DESIGN & REALIZATION ON GPS/INS INTEGRATED NAVIGATION SYSTEM

讨论了应用卡尔曼滤波器的ＧＰＳ／ＩＮＳ组合导航系统，其中包括理论、方案与实际的ＩＮＳ和ＧＰＳ接收机的结合，研究的重点是对系统误差的建模及组合的实现，以及松组合和紧组合等各种组合方式等。该ＧＰＳ／ＩＮＳ组合导航开发系统，可以有效和经济地用于组合导航系统的研究和设计，在实际应用中起到了非常有效的作用。该系统不仅仅是一个计算机辅助设计软件，而且可以对实际获得的惯导和ＧＰＳ数据进行半物理仿真。开发系统的核心软件可以方便地转换成实际组合系统中的工程应用软件。应用结果表明，开发系统的设计思想和组合方案是成功的，可以取得良好的导航结果。

APPLYINGSUCCESSIVEORTHOGONALIZATIONDECENTRALIZEDKALMANFILTERTOGPS／INSINTEGRATEDNAVIGATIONSYSTEM

逐次正交化分布式卡尔曼滤波器是对大系统进行状态估计的一种新方法。本文讨论了在GPS／INS组合导航系统中，应用逐次正交化分布式卡尔曼滤波器的原理和特点。首先，将组合导航系统分成三个子系统，然后采用开环和闭环校正相结合的方法，用两种组合方式对系统进行仿真。结果表明：本方法是有效并可实现的；在三个子系统串行运算的条件下，实际提高运行速度约两倍，并且保持了最优精度。本文所得的结论对于由多个实际子导航系统，如INS，GPS，地形匹配，罗兰C，多普勒雷达。

A tightly coupled rotational SINS/CNS integrated navigation method for aircraft

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.

Adaptive Federal Kalman Filtering for SINS/GPS Integrated System

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.

Three-time rapid transfer alignment method of SINS/GPS navigation system of high-speed marine missile

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.

A Map-Matching Algorithm forGPS/DR Integrated Navigation Systems Basedon Dempster-Shafer Evidence Reasoning

GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and the unbounded DR accumulation of errors over time make the position information with undesirable position errors. The map matching can improve the position accuracy and availability of the vehicular position system. In this paper, general principle of map matching is investigated according to segmentation and feature extraction, and a map matching algorithm based on D-S (Dempster-Shafer) evidence reasoning for GPS integrated navigation system is proposed, which can find the exact road on which a car moves. For the experiments, a car navigation system is developed with some sensors and the field test demonstrates the effectiveness and applicability of the algorithm for the car location and navigation.

Position and attitude determination by integrated GPS/SINS/TS for feed support system of FAST

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.

基于VB-EKF的GPS/INS松组合导航定位算法

针对应用在无人机(Unmanned Aerial Vehicle,UAV)中的全球定位系统/惯性导航系统(GPS/INS)松组合导航非线性系统受到外界噪声干扰导致量测噪声在滤波时不断变化,从而造成滤波精度下降等问题,提出一种变分贝叶斯扩展卡尔曼滤波(VB-EKF)算法。该算法利用EKF(Extended Kalman Filter)将非线性系统中的状态函数和量测函数展开为线性方程,并将两个不同的导航系统数据进行融合,避免了单系统导航定位发散的问题。考虑到组合系统中量测噪声的时变特性,引入变分贝叶斯算法进行改进,有效解决了系统滤波精度下降问题。仿真结果表明,VB-EKF较EKF算法可有效提高滤波稳定性,进而提高系统导航定位精度。

Novel approach to GPS/SINS integration for IMU alignment

Strapdown inertial navigation system（SINS） requires an initialization process that establishes the relationship between the body frame and the local geographic reference.This process,called alignment,is generally used to estimate the initial attitude angles.This is possible because an accurate determination of the inertial measurement unit（IMU） motion is available based on the measurement obtained from global position system（GPS）.But the update frequency of GPS is much lower than SINS.Due to the non-synchronous data streams from GPS and SINS,the initial attitude angles may not be computed accurately enough.In addition,the estimated initial attitude angles may have relatively large uncertainties that can affect the accuracy of other navigation parameters.This paper presents an effective approach of matching the velocities which are provided by GPS and SINS.In this approach,a digital high-pass filter,which implements a pre-filtering scheme of the measured signal,is used to filter the Schuler cycle of discrete velocity difference between the SINS and GPS.Simulation results show that this approach improves the accuracy greatly and makes the convergence time satisfy the required accuracy.

A Novel SINS/IUSBL Integration Navigation Strategy for Underwater Vehicles

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.

SINS/GPS/CNS组合导航联邦滤波算法

针对飞行器在长航时高速巡航过程中,捷联惯性导航系统存在误差漂移,GPS导航可能会丢星、信号失锁,天文导航系统易受环境干扰,组合系统模型线性化误差易导致滤波发散等问题,分析了三种导航系统的优缺点,提出了SINS/GPS/CNS组合导航联邦滤波算法,该算法可以取长补短,巧妙地将GPS定位和天文导航定姿精度高的优势辅助于捷联惯导系统,利用卡尔曼联邦滤波器对捷联惯导系统进行误差估计,并对联邦滤波算法进行了有效的改进。计算机仿真显示,该滤波器收敛速度快,具有一定的容错功能,其滤波精度较SINS/GPS组合导航系统在位置误差和速度误差上均有约5%左右的小幅提升,在平台角误差上更是提高了一个数量级。仿真结果验证了该组合导航方案的可行性和算法的有效性,有重要的工程应用价值。

INVESTIGATION OF TIGHTLY COUPLED SINS/GPS INTEGRATION MIDCOURSE GUIDANCE FOR AIR-TO-AIR MISSILES

The applied problems of SINS/GPS integration navigation system existing in midcourse guidance of air to air missiles have been investigated recently. In comparison with those investigations existing in current publications, a new tightly coupled SINS/GPS integration navigation system for air to air missiles, based on the decorrelated pseudo range approach, is presented in this paper. Because of high jamming and dynamic of air to air missiles, inertial velocity aiding GPS receiver is used to provide a more accurate, jam resistant measurement for midcourse guidance systems. A tracking error estimator is designed to distinguish the correlation that existed between pseudo range measurements and inertial information. It is found better to regard inertial velocity aiding errors as the noise of which statistical properties are unknown. So using mixed Kalman/minimax filtering theory, one can obtain the new tracking error estimator with simple and robust algorithm through constructing a composite filter consisting of two parts: Kalman filter for the noise of known statistics and minimax filter for the unknown. In order to ensure this simple estimator stability, a new method is proposed to choose its parameters, based on Khargonekars work. Moreover, it is demonstrated that the given method also ensures the proposed estimator optimality. All the work mentioned above is involved in the tightly coupled SINS/GPS integration midcourse system design in which a set of low accuracy inertial components is shared by SINS and autopilot. Simulation results of a certain type of air to air missile are presented. Due to decorrelation by the tracking error estimator, only small white noise of pseudo range measurements remains. So it is shown that application of the new midcourse guidance system results in better guidance accuracy, higher jam resistance.

激光陀螺SINS/GPS组合导航车载试验系统

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。

一种简化的发射系下SINS/GPS/CNS组合导航系统无迹卡尔曼滤波算法

在弹载等高动态环境下组合导航系统状态方程具有强非线性,且各状态相互耦合影响,传统的扩展卡尔曼滤波(EKF)算法因忽略高阶项相互影响,其模型线性化展开会导致模型不准确引起导航精度下降;无迹卡尔曼滤波(UKF)算法能有效避免引入线性化误差,却存在因组合导航系统维数过高引起大量粒子递推滤波计算复杂而影响算法实时性的问题。为此,针对发射惯性系下弹载组合导航系统对滤波算法高实时性和高精确性的要求,设计了一种简化UKF(SUKF)算法,SUKF算法通过对导航系统的状态参数直接进行建模估计,解决了传统UKF算法实时性差的问题,同时继承了传统UKF算法无需模型一阶线性化展开的优点,提高了导航系统的精度。算法仿真结果表明,SUKF算法有效提高了系统解算的实时性和滤波精度,非常适合用于实际工程系统。

卫星信号失效条件下SINS/GPS不同组合方式的性能比较

为了研究卫星信号失效对SINS/GPS松组合导航系统和紧组合导航系统导航性能的影响,在分析惯导系统误差方程的基础上,给出了基于卡尔曼滤波的松组合和紧组合数学模型,构建了两种组合方式的仿真平台。仿真结果显示,SINS/GPS紧组合导航系统的精度要明显优于松组合导航系统,且在卫星信号失效导致可见星数目少于4颗甚至仅有1颗时,SINS/GPS紧组合依然能够保持组合模式,并可提供高于单一惯性导航系统的导航精度,说明了SINS/GPS紧组合方式具有较高的精度和可靠性。

H_∞滤波算法及其在GPS/SINS组合导航系统中的应用

在对 H∞ 估计问题进行数学描述的基础上 ,建立了一种 H∞ 次优滤波算法的迭代方程。定性讨论了H∞滤波算法与传统 Kalman滤波器的关系 ,通过在 GPS/SINS组合系统中的实际应用进一步从精度、鲁棒性等性能指标方面对 H∞ 滤波和 Kalman滤波算法进行了比较。仿真结果表明 ,在理想条件下 ,Kalman滤波方法具有较高的精度 ;但是 ,当系统模型和外部干扰统计特性发生变化时 ,H∞ 滤波算法明显具有良好的鲁棒性能 ,同时 ,估计精度也较高 ,有效地克服了

发射系下SINS/GPS/CNS组合导航系统联邦粒子滤波算法

传统的扩展卡尔曼滤波(Extended Kalman filter,EKF)算法应用于未来高超、空天飞行器的组合导航系统时,因其模型线性化展开会导致模型不准确,从而引起导航精度下降;采用蒙特卡洛方法来实现递推贝叶斯估计问题的粒子滤波(Particle filter,PF)算法能有效避免引入线性化误差,具有一定的优势。据此,针对高超、空天飞行器在发射过程中通常需要直接获得发射惯性系下的高精度导航参数的需求,提高发射惯性系下弹载组合导航系统滤波算法的精确性就尤为重要,PF滤波算法无需对非线性系统进行线性化展开即可直接实现对非线性系统的状态误差估计。为此,本文将PF滤波算法引入空天飞行器SINS/GPS/CNS多信息融合组合导航系统,设计了发射系下基于联邦滤波器的PF滤波算法,实现了对组合导航系统状态参数的直接建模估计。算法仿真结果表明,相较于发射系下SINS/GPS/CNS组合导航系统联邦EKF滤波算法,PF滤波算法有效提高了组合导航系统滤波精度。

Rao-Blackwellized粒子滤波在SINS/GPS深组合导航系统中的应用研究

在组合导航系统数据处理中,有时会出现线性非线性混合模型的高维滤波问题,此时采用传统的线性卡尔曼滤波无法直接处理,而一般的非线性粒子滤波计算量往往很大,难以满足导航系统实时性要求。因此,本文提出了利用Rao-Blackwellized(RB)思想对上述组合导航滤波模型进行分块处理,对于线性子空间采用卡尔曼滤波方法,对于非线性子空间采用粒子滤波方法。优化处理后的粒子滤波维数从20减少到3,使抽样所需的粒子数大大减少。通过仿真验证表明,在选取相同粒子数目前提下,本算法的滤波精度明显提高,并有效保证了导航计算的实时性。

GPS/SINS紧组合导航系统信息融合技术研究

为了提高复杂环境条件下导弹的导航精度,以GPS/SINS紧组合导航系统为研究对象,首先研究了GPS/SINS紧组合导航系统的数学模型;然后对扩展卡尔曼滤波和无迹卡尔曼滤波的算法进行了详细的分析;最后将这两种滤波算法应用到GPS/SINS紧组合导航系统中。系统仿真结果表明,UKF在位置、速度的估计精度上均优于EKF,并且UKF具有更好的稳定性和收敛性。

弹载SINS/GPS组合导航信息同步与融合技术

针对一种基于DSP+FPGA+MCU多处理器计算机平台的弹载组合导航系统设计了精确有效的信息同步的方法,采用GPS接收机提供的1PPS脉冲和MCU提供的脉冲信号实现GPS和SINS信号时间上的同步,采用杆臂校正算法完成了GPS和SINS测量信号空间上的同步。由于系统噪声难于准确统计,因此采用自适应卡尔曼滤波算法进行数据融合。最后对系统进行了跑车试验,试验结果表明系统所采用的方法具有较好的效果。