Transfer alignment is an effective alignment method for the strapdown inertial navigation system （SINS） of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment ...Transfer alignment is an effective alignment method for the strapdown inertial navigation system （SINS） of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment use nonlinear transfer align- ment models and incorporate nonlinear filtering. A rapid transfer alignment method with linear models and linear filtering for ar- bitrary misalignment angles is presented. Through the attitude quaternion decomposition, the purpose of transfer alignment is converted to estimate a constant quaternion. Employing special manipulations on measurement equation, velocity and attitude linear measurement equations are derived. Then the linear trans- fer alignment model for arbitrary misalignment angles is built. An adaptive Kalman filter is developed to handle modeling errors of the measurement noise statistics. Simulation results show feasibili- ty and effectiveness of the proposed method, which provides an alternative rapid transfer alignment method for airborne weapons.展开更多
In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the sig...In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the signal intefereces,etc.,there always exist pulse interferences or measurement information interruptions in the satellite receiver,which make nonstationary measurement process.The traditional Kalman Filter(KF)can tackle the state estimation problem under Gaussian white noise,but its performance will be significantly reduced under nonGaussian noises.In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems,a Maximum Versoria Criterion Extended Kalman Filter(MVC-EKF)algorithm is proposed based on the MVC and the idea of M-estimation,which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost.Finally,the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.展开更多
A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estima...A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation's error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.展开更多
The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time...The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.展开更多
According to the characteristic of Beidou Double-star positing system (for short: Double-star position), the optimal predication model of Double-star position/SINS integrated system is put forward, which can make use ...According to the characteristic of Beidou Double-star positing system (for short: Double-star position), the optimal predication model of Double-star position/SINS integrated system is put forward, which can make use of the delayed position in-formation from Double-star positioning system to predicate optimally for the integrated system, and then to correct SINS, and af-fords integrated results of some navigation parameters. In order to validate the consistency of the filter, the criteria for consistency of a filter is also studied, and the tested statistics are given, the experiment based on practical measured data shows that the filtering method is consistent with the integrated system.展开更多
When SINS （strap-down inertial navigation system） is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course ...When SINS （strap-down inertial navigation system） is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS （attitude and heading reference system） and IMU （inertial measurement unit）, Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high.展开更多
This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system con...This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system consists of three types of measuring equipments,and a processing software with the core data fusion algorithm.The Strapdown Inertial Navigation System(SINS)can autonomously measure the position,speed and attitude of the carrier.Its own shortcoming is that the measurement data diverge rapidly over time.SINS must combine the Global Positioning System(GPS)and the Total Station(TS)to obtain high-precision measurement data.The Kalman filtering algorithm is adopted for the integration measurement system,which is an optimal algorithm to estimate the measurement errors.A series of tests are carried out to evaluate the performance.For the feed cabin,the maximum RMS of the position is 14.56 mm,the maximum RMS of the attitude is 0.095,these values are less than 15 mm and 0.1°as the precision for measuring the feed cabin.For the Stewart manipulator,the maximum RMS of the position is 2.99 mm,the maximum RMS of the attitude is 0.093°,these values are less than 3 mm and 0.1°as the precision for measuring the Stewart manipulator.As a result,the new measurement meets the requirement of measurement precision for FAST's feed support system.展开更多
The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technolo...The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technology.To address these restraints,the BeiDou navigation satellite system/strapdown inertial navigation system(BDS/SINS)integrated train positioning system based on an adaptive unscented Kalman filter(AUKF)is proposed.Firstly,the combined denoising algorithm(CDA)and Lagrange interpolation algorithm are introduced to preprocess the original data,effectively eliminating the influence of noise signals and abnormal measurements on the train positioning system.Secondly,the innovation theory is incorporated into the unscented Kalman filter(UKF)to derive the AUKF,which accomplishes an adaptive update of the measurement noise covariance.Finally,the positioning performance of the proposed AUKF is contrasted with that of conventional algorithms in various operation scenes.Simulation results demonstrate that the average value of error calculated by AUKF is less than 1.5 m,and the success rate of positioning touches 95.0%.Compared to Kalman filter(KF)and UKF,AUKF exhibits superior accuracy and stability in train positioning.Consequently,the proposed AUKF is well-suited for providing precise positioning services in variable operating environments for trains.展开更多
SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不...SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不同导航模式对系统性能的影响,最后给出了一些有益的结论。展开更多
基金supported by the National Natural Science Foundation of China(61233005)
文摘Transfer alignment is an effective alignment method for the strapdown inertial navigation system （SINS） of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment use nonlinear transfer align- ment models and incorporate nonlinear filtering. A rapid transfer alignment method with linear models and linear filtering for ar- bitrary misalignment angles is presented. Through the attitude quaternion decomposition, the purpose of transfer alignment is converted to estimate a constant quaternion. Employing special manipulations on measurement equation, velocity and attitude linear measurement equations are derived. Then the linear trans- fer alignment model for arbitrary misalignment angles is built. An adaptive Kalman filter is developed to handle modeling errors of the measurement noise statistics. Simulation results show feasibili- ty and effectiveness of the proposed method, which provides an alternative rapid transfer alignment method for airborne weapons.
基金co-supported by the National Natural Science Foundation of China(No.62073264)the Key Research and Development Project of Shaanxi Province,China(No.2021ZDLGY01-01 and 2020ZDLGY06-02)+2 种基金National Natural Science Foundation of China(No.61803309)China Postdoctoral Science Foundation(No.2018M633574)the Aeronautical Science Foundation of China(No.2019ZA053008)。
文摘In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the signal intefereces,etc.,there always exist pulse interferences or measurement information interruptions in the satellite receiver,which make nonstationary measurement process.The traditional Kalman Filter(KF)can tackle the state estimation problem under Gaussian white noise,but its performance will be significantly reduced under nonGaussian noises.In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems,a Maximum Versoria Criterion Extended Kalman Filter(MVC-EKF)algorithm is proposed based on the MVC and the idea of M-estimation,which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost.Finally,the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.
文摘A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation's error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.
文摘The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.
文摘According to the characteristic of Beidou Double-star positing system (for short: Double-star position), the optimal predication model of Double-star position/SINS integrated system is put forward, which can make use of the delayed position in-formation from Double-star positioning system to predicate optimally for the integrated system, and then to correct SINS, and af-fords integrated results of some navigation parameters. In order to validate the consistency of the filter, the criteria for consistency of a filter is also studied, and the tested statistics are given, the experiment based on practical measured data shows that the filtering method is consistent with the integrated system.
文摘When SINS （strap-down inertial navigation system） is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS （attitude and heading reference system） and IMU （inertial measurement unit）, Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high.
基金the National Natural Science Foundation of China(Grant No.11673039)the Open Project Program of the Key Laboratory of FAST,NAOC,Chinese Academy of Sciencesthe Key Laboratory of Radio Astronomy,Chinese Academy of Sciences。
文摘This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system consists of three types of measuring equipments,and a processing software with the core data fusion algorithm.The Strapdown Inertial Navigation System(SINS)can autonomously measure the position,speed and attitude of the carrier.Its own shortcoming is that the measurement data diverge rapidly over time.SINS must combine the Global Positioning System(GPS)and the Total Station(TS)to obtain high-precision measurement data.The Kalman filtering algorithm is adopted for the integration measurement system,which is an optimal algorithm to estimate the measurement errors.A series of tests are carried out to evaluate the performance.For the feed cabin,the maximum RMS of the position is 14.56 mm,the maximum RMS of the attitude is 0.095,these values are less than 15 mm and 0.1°as the precision for measuring the feed cabin.For the Stewart manipulator,the maximum RMS of the position is 2.99 mm,the maximum RMS of the attitude is 0.093°,these values are less than 3 mm and 0.1°as the precision for measuring the Stewart manipulator.As a result,the new measurement meets the requirement of measurement precision for FAST's feed support system.
基金supported by Project Fund of China National Railway Group Co.,Ltd.(No.N2022G012)Natonal Natural Science Foundation of China(No.61661027)。
文摘The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technology.To address these restraints,the BeiDou navigation satellite system/strapdown inertial navigation system(BDS/SINS)integrated train positioning system based on an adaptive unscented Kalman filter(AUKF)is proposed.Firstly,the combined denoising algorithm(CDA)and Lagrange interpolation algorithm are introduced to preprocess the original data,effectively eliminating the influence of noise signals and abnormal measurements on the train positioning system.Secondly,the innovation theory is incorporated into the unscented Kalman filter(UKF)to derive the AUKF,which accomplishes an adaptive update of the measurement noise covariance.Finally,the positioning performance of the proposed AUKF is contrasted with that of conventional algorithms in various operation scenes.Simulation results demonstrate that the average value of error calculated by AUKF is less than 1.5 m,and the success rate of positioning touches 95.0%.Compared to Kalman filter(KF)and UKF,AUKF exhibits superior accuracy and stability in train positioning.Consequently,the proposed AUKF is well-suited for providing precise positioning services in variable operating environments for trains.
