The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time perfor...The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.展开更多
To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied sig...To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of INS errors.The principle of the RMT was introduced and the error propagating functions were derived from the rotary navigation equation.Effects of the measurement error for the rotation angle of the platform on the system precision were analyzed.The simulation and experimental results show that the precision of INS was ① dramatically improved with the use of the RMT,and ② hardly reduced when the measurement error for the rotation angle was in arc-second level.The study results offer a theoretical basis for engineering design of rotary INS.展开更多
The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer ca...The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer can be averaged out,but the G-sensitive drifts of laser gyro cannot be averaged out by indexing.A 16-position rotational simulation experiment proves the G-sensitive drift will affect the long-term navigation error for the rotational INS quantitatively.The vibration coupling and asymmetric structure of the DRLG are the main errors.A new dithered mechanism and optimized DRLG is designed.The validity and efficiency of the optimized design are conformed by 1 g sinusoidal vibration experiments.An optimized inertial measurement unit(IMU)is formulated and measured experimentally.Laboratory and vehicle experimental results show that the divergence speed of longitude errors can be effectively slowed down in the optimized IMU.In long term independent navigation,the position accuracy of dual-axis rotational INS is improved close to 50%,and the G-sensitive drifts of laser gyro in the optimized IMU are less than 0.0002°/h.These results have important theoretical significance and practical value for improving the structural dynamic characteristics of DRLG INS,especially the highprecision inertial system.展开更多
To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two diff...To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.展开更多
In view of the failure of GNSS signals,this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network(RNN).This proposed method utilizes the calculation principle of INS and the mem...In view of the failure of GNSS signals,this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network(RNN).This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS,thereby obtaining a continuous,reliable and high-precision navigation solution.The performance of the proposed method is firstly demonstrated using an INS/GNSS simulation environment.Subsequently,an experimental test on boat is also conducted to validate the performance of the method.The results show a promising application prospect for RNN in the field of positioning for INS/GNSS integrated navigation in the absence of GNSS signal,as it outperforms extreme learning machine(ELM)and EKF by approximately 30%and 60%,respectively.展开更多
The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is...The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is that the GPS systems work well only in open environments with no overhead obstructions and they are subject to large unavoidable errors when the reception from some of the satellites are blocked. This occurs frequently in urban environments, forests and tunnels. GPS systems require at least four “visible” satellites to maintain a good position fix. In many situations in which higher level of accuracy is required, the navigation cannot be achieved by GPS alone. This paper discusses the design of a reliable multisensor fusion algorithm using GPS and Inertial Navigation System in order to decrease the implementation cost of such systems on land vehicles. The major contribution of this paper is in the definition of the possible developments and research axes in land navigation.展开更多
Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital mo...Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.展开更多
针对捷联惯性导航系统(INS,Inertial Navigation System)全温动态环境下测量误差问题,提出一种全温六方位正反速率标定及分段线性插值补偿方法.根据工作环境设定标定温度点,在每个恒温点设计六方位正反速率标定方案;采用分段线性插值算...针对捷联惯性导航系统(INS,Inertial Navigation System)全温动态环境下测量误差问题,提出一种全温六方位正反速率标定及分段线性插值补偿方法.根据工作环境设定标定温度点,在每个恒温点设计六方位正反速率标定方案;采用分段线性插值算法实时补偿系统零偏和标度因数温度误差,提高了系统温度及动态环境下的测量精度.实验结果表明:采用该方法系统的车载和飞行实验纯惯性导航误差均值分别由1.501 n mile/h和5.811 n mile/h减小到0.393 n mile/h和0.681n mile/h,为进一步提高合成孔径雷达(SAR,Synthetic ApertureRadar)成像分辨率奠定基础.展开更多
基金supported in part by National Key Research and Development Program under Grant No.2020YFB1708800China Postdoctoral Science Foundation under Grant No.2021M700385+5 种基金Guang Dong Basic and Applied Basic Research Foundation under Grant No.2021A1515110577Guangdong Key Research and Development Program under Grant No.2020B0101130007Central Guidance on Local Science and Technology Development Fund of Shanxi Province under Grant No.YDZJSX2022B019Fundamental Research Funds for Central Universities under Grant No.FRF-MP-20-37Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)under Grant No.FRF-IDRY-21-005National Natural Science Foundation of China under Grant No.62002026。
文摘The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.
基金Sponsored by the National Natural Science Foundation of China(60604011)
文摘To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of INS errors.The principle of the RMT was introduced and the error propagating functions were derived from the rotary navigation equation.Effects of the measurement error for the rotation angle of the platform on the system precision were analyzed.The simulation and experimental results show that the precision of INS was ① dramatically improved with the use of the RMT,and ② hardly reduced when the measurement error for the rotation angle was in arc-second level.The study results offer a theoretical basis for engineering design of rotary INS.
基金supported by the National Natural Science Foundation of China(61503399).
文摘The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer can be averaged out,but the G-sensitive drifts of laser gyro cannot be averaged out by indexing.A 16-position rotational simulation experiment proves the G-sensitive drift will affect the long-term navigation error for the rotational INS quantitatively.The vibration coupling and asymmetric structure of the DRLG are the main errors.A new dithered mechanism and optimized DRLG is designed.The validity and efficiency of the optimized design are conformed by 1 g sinusoidal vibration experiments.An optimized inertial measurement unit(IMU)is formulated and measured experimentally.Laboratory and vehicle experimental results show that the divergence speed of longitude errors can be effectively slowed down in the optimized IMU.In long term independent navigation,the position accuracy of dual-axis rotational INS is improved close to 50%,and the G-sensitive drifts of laser gyro in the optimized IMU are less than 0.0002°/h.These results have important theoretical significance and practical value for improving the structural dynamic characteristics of DRLG INS,especially the highprecision inertial system.
基金supported by the National Natural Science Foundation of China (60902055)
文摘To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.
基金supported in part by the National Natural Science Foundation of China(No.41876222)。
文摘In view of the failure of GNSS signals,this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network(RNN).This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS,thereby obtaining a continuous,reliable and high-precision navigation solution.The performance of the proposed method is firstly demonstrated using an INS/GNSS simulation environment.Subsequently,an experimental test on boat is also conducted to validate the performance of the method.The results show a promising application prospect for RNN in the field of positioning for INS/GNSS integrated navigation in the absence of GNSS signal,as it outperforms extreme learning machine(ELM)and EKF by approximately 30%and 60%,respectively.
文摘The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is that the GPS systems work well only in open environments with no overhead obstructions and they are subject to large unavoidable errors when the reception from some of the satellites are blocked. This occurs frequently in urban environments, forests and tunnels. GPS systems require at least four “visible” satellites to maintain a good position fix. In many situations in which higher level of accuracy is required, the navigation cannot be achieved by GPS alone. This paper discusses the design of a reliable multisensor fusion algorithm using GPS and Inertial Navigation System in order to decrease the implementation cost of such systems on land vehicles. The major contribution of this paper is in the definition of the possible developments and research axes in land navigation.
基金supported by the National Natural Science Foundation of China(61673060)the National Key R&D Plan(2016YFB0501700)
文摘Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.
文摘针对捷联惯性导航系统(INS,Inertial Navigation System)全温动态环境下测量误差问题,提出一种全温六方位正反速率标定及分段线性插值补偿方法.根据工作环境设定标定温度点,在每个恒温点设计六方位正反速率标定方案;采用分段线性插值算法实时补偿系统零偏和标度因数温度误差,提高了系统温度及动态环境下的测量精度.实验结果表明:采用该方法系统的车载和飞行实验纯惯性导航误差均值分别由1.501 n mile/h和5.811 n mile/h减小到0.393 n mile/h和0.681n mile/h,为进一步提高合成孔径雷达(SAR,Synthetic ApertureRadar)成像分辨率奠定基础.
