Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GP...Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GPS/INS） integration based nav- igation approach is proposed. The accurate short-time output of INS is used by GPS receiver to assist in acquisition of signal, and output information of INS and GPS is fused based on federated filter. Meanwhile, the improved cubature Kalman filter with strong tracking ability is chosen to serve as the local filter, and then the federated filter is enhanced based on vector sharing theory. Finally, simulation results show that the navigation accuracy with the proposed method is higher than that with traditional methods. It provides reference for long-range rocket projectile navigation.展开更多
An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform...An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform of the IPS is designed,which consists of the light-emitting diode( LED)based transmitter,the receiver and the positioning server. To reduce the impact caused by measurement errors,both inertial sensing data and the received signal strength( RSS) from the VLC are calibrated. Then,a practical propagation model is established to obtain the distance between the transmitter and the receiver from the RSS measurements. Furthermore,a hybrid positioning algorithm is proposed by using the adaptive Kalman filter( AKF) and the weighted least squares( WLS)trilateration to estimate the positions of the mobile targets.Experimental results show that the developed IPS using the proposed hybrid positioning algorithm can extend the localization area of VLC,mitigate the IMU drifts and improve the positioning accuracy of mobile targets.展开更多
基金Project Funded by Chongqing Changjiang Electrical Appliances Industries Group Co.,Ltd
文摘Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GPS/INS） integration based nav- igation approach is proposed. The accurate short-time output of INS is used by GPS receiver to assist in acquisition of signal, and output information of INS and GPS is fused based on federated filter. Meanwhile, the improved cubature Kalman filter with strong tracking ability is chosen to serve as the local filter, and then the federated filter is enhanced based on vector sharing theory. Finally, simulation results show that the navigation accuracy with the proposed method is higher than that with traditional methods. It provides reference for long-range rocket projectile navigation.
基金The National Natural Science Foundation of China(No.61741102,61471164,61601122)the Fundamental Research Funds for the Central Universities(No.SJLX_160040)
文摘An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform of the IPS is designed,which consists of the light-emitting diode( LED)based transmitter,the receiver and the positioning server. To reduce the impact caused by measurement errors,both inertial sensing data and the received signal strength( RSS) from the VLC are calibrated. Then,a practical propagation model is established to obtain the distance between the transmitter and the receiver from the RSS measurements. Furthermore,a hybrid positioning algorithm is proposed by using the adaptive Kalman filter( AKF) and the weighted least squares( WLS)trilateration to estimate the positions of the mobile targets.Experimental results show that the developed IPS using the proposed hybrid positioning algorithm can extend the localization area of VLC,mitigate the IMU drifts and improve the positioning accuracy of mobile targets.
