A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the thre...A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.展开更多
To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eig...To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system＇s observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.展开更多
基金Supported by the Chongqing International Science and Technology Cooperation Base Project(cstc2014gjhz40001)the University Achievement Transformation Project of Chongqing Science and Technology Commission(KJZH17115)+3 种基金the Basic Research Project of Chongqing Science and Technology Commission(cstc2015jcyjBX0068,cstc2014jcyjA1350,cstc2015jcyjB0360)the Dr.Start-up Fund of Chongqing University of Posts and Telecommunications(A2015-40,A2016-76)the National Natural Science Foundation of Chongqing University of Posts and Telecommunications(A2015-49)the Scientific and Technological Research Program of Chongqing Municipal Education Commission(KJ1704104,KJ1704091)
文摘A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.
文摘To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system＇s observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.
