This paper presents a new information fusion filter in integrated navigation. The method can improve the fault-tolerant performance and make well fault detection, isolation and reconfiguration of the integrated naviga...This paper presents a new information fusion filter in integrated navigation. The method can improve the fault-tolerant performance and make well fault detection, isolation and reconfiguration of the integrated navigation system exist. Based on three sensors'(strapdown system, GPS receiver, Doppler radar) information fusion, a fault-tolerant navigation system is designed with this information fusion filter and two-ellipsoid overlap test. Simulation results show that the design is efficient with the soft-failure of gyro, accelerator, GPS receiver and Doppler radar.展开更多
The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal sw...The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.展开更多
A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once ...A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.展开更多
文摘This paper presents a new information fusion filter in integrated navigation. The method can improve the fault-tolerant performance and make well fault detection, isolation and reconfiguration of the integrated navigation system exist. Based on three sensors'(strapdown system, GPS receiver, Doppler radar) information fusion, a fault-tolerant navigation system is designed with this information fusion filter and two-ellipsoid overlap test. Simulation results show that the design is efficient with the soft-failure of gyro, accelerator, GPS receiver and Doppler radar.
文摘The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.
基金Projects(90820302,60805027) supported by the National Natural Science Foundation of ChinaProject(200805330005) supported by Research Fund for Doctoral Program of Higher Education of China+1 种基金Projects(2009FJ4030) supported by Academician Foundation of Hunan Province,ChinaProject supported by the Freedom Explore Program of Central South University,China
文摘A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.
