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...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.展开更多
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 de...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.展开更多
The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the S...The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS (Strapdown inertial navigation systems) and DVL (doppler velocity log) is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV (autonomous underwater vehicle) is in motion.展开更多
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 estima...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.展开更多
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 us...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.展开更多
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...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。展开更多
基金supported by the National Natural Science Foundation of China(61722301)
文摘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.
基金The author would like to thank the support in part by the National Natural Science Foundation of China(Grant No.51375088)Inertial Technology Key Lab Fund,the Fundamental Research Funds for the Central Universities(2242015R30031,2242018K40065,2242018K40066)the Foundation of Shanghai Key Laboratory of Navigation and Location Based Services.
文摘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.
文摘The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS (Strapdown inertial navigation systems) and DVL (doppler velocity log) is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV (autonomous underwater vehicle) is in motion.
文摘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.
基金supported by the National Natural Science Foundation of China (6083400560775001)
文摘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.
