Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated...Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated navigation can be divided into two integrated modes:loosely coupled integrated navigation and tightly coupled integrated navigation.Because the loosely coupled SINS/CNS integrated system is only available in the condition of at least three stars,the latter one is becoming a research hotspot.One major challenge of SINS/CNS integrated navigation is obtaining a high-precision horizon reference.To solve this problem,an innovative tightly coupled rotational SINS/CNS integrated navigation method is proposed.In this method,the rotational SINS error equation in the navigation frame is used as the state model,and the starlight vector and star altitude are used as measurements.Semi-physical simulations are conducted to test the performance of this integrated method.Results show that this tightly coupled rotational SINS/CNS method has the best navigation accuracy compared with SINS,rotational SINS,and traditional tightly coupled SINS/CNS integrated navigation method.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
This paper presents a novel SINS/IUSBL integration navigation strategy for underwater vehicles.Based on the principle of inverted USBL(IUSBL),a SINS/IUSBL integration navigation system is established,where the USBL de...This paper presents a novel SINS/IUSBL integration navigation strategy for underwater vehicles.Based on the principle of inverted USBL(IUSBL),a SINS/IUSBL integration navigation system is established,where the USBL device and the SINS are both rigidly mounted onboard the underwater vehicle,and fully developed in-house,the integration navigation system will be able to provide the absolute position of the underwater vehicle with a transponder deployed at a known position beforehand.Furthermore,the state error equation and the measurement equation of SINS/IUSBL integration navigation system are derived,the difference between the position calculated by SINS and the absolute position obtained by IUSBL positioning technology is used as the measurement information.The observability of the integration system is analyzed based on the singular value decomposition(SVD)method.Finally,a mathematical simulation is performed to demonstrate the effectiveness of the proposed SINS/IUSBL integration approach,and the observable degrees of the state variables are also analyzed.展开更多
The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the S...The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS (Strapdown inertial navigation systems) and DVL (doppler velocity log) is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV (autonomous underwater vehicle) is in motion.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
基金supported by the National Natural Science Foundation of China(61722301)
文摘Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated navigation can be divided into two integrated modes:loosely coupled integrated navigation and tightly coupled integrated navigation.Because the loosely coupled SINS/CNS integrated system is only available in the condition of at least three stars,the latter one is becoming a research hotspot.One major challenge of SINS/CNS integrated navigation is obtaining a high-precision horizon reference.To solve this problem,an innovative tightly coupled rotational SINS/CNS integrated navigation method is proposed.In this method,the rotational SINS error equation in the navigation frame is used as the state model,and the starlight vector and star altitude are used as measurements.Semi-physical simulations are conducted to test the performance of this integrated method.Results show that this tightly coupled rotational SINS/CNS method has the best navigation accuracy compared with SINS,rotational SINS,and traditional tightly coupled SINS/CNS integrated navigation method.
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.
基金The author would like to thank the support in part by the National Natural Science Foundation of China(Grant No.51375088)Inertial Technology Key Lab Fund,the Fundamental Research Funds for the Central Universities(2242015R30031,2242018K40065,2242018K40066)the Foundation of Shanghai Key Laboratory of Navigation and Location Based Services.
文摘This paper presents a novel SINS/IUSBL integration navigation strategy for underwater vehicles.Based on the principle of inverted USBL(IUSBL),a SINS/IUSBL integration navigation system is established,where the USBL device and the SINS are both rigidly mounted onboard the underwater vehicle,and fully developed in-house,the integration navigation system will be able to provide the absolute position of the underwater vehicle with a transponder deployed at a known position beforehand.Furthermore,the state error equation and the measurement equation of SINS/IUSBL integration navigation system are derived,the difference between the position calculated by SINS and the absolute position obtained by IUSBL positioning technology is used as the measurement information.The observability of the integration system is analyzed based on the singular value decomposition(SVD)method.Finally,a mathematical simulation is performed to demonstrate the effectiveness of the proposed SINS/IUSBL integration approach,and the observable degrees of the state variables are also analyzed.
文摘The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS (Strapdown inertial navigation systems) and DVL (doppler velocity log) is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV (autonomous underwater vehicle) is in motion.
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.
