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Error Analysis and Compensation of Strapdown Inertial Navigation System 被引量:16
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作者 刘勤 刘莉 祁载康 《Journal of Beijing Institute of Technology》 EI CAS 2002年第2期117-120,共4页
Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy... Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal. 展开更多
关键词 error analysis strapdown inertial navigation system uniform design method calibration test
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A fast and accurate initial alignment method for strapdown inertial navigation system on stationary base 被引量:11
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作者 Xinlong WANG Gongxun SHEN 《控制理论与应用(英文版)》 EI 2005年第2期145-149,共5页
In this work,a fast and accurate stationary alignment method for strapdown inertial navigation system (SINS) is proposed. It has been demonstrated that the stationary alignment of SINS can be improved by employing t... In this work,a fast and accurate stationary alignment method for strapdown inertial navigation system (SINS) is proposed. It has been demonstrated that the stationary alignment of SINS can be improved by employing the multiposition technique,but the alignment time of the azimuth error is relatively longer. Over here, the two-position alignment principle is presented. On the basis of this SINS error model, a fast estimation algorithm of the azimuth error for the initial alignment of SINS on stationary base is derived fully from the horizontal velocity outputs and the output rates, and the novel azimuth error estimation algorithm is used for the two-position alignment. Consequently, the speed and accuracy of the SINS' s initial alignment is enhanced greatly. The computer simulation results illustrate the efficiency of this alignment method. 展开更多
关键词 strapdown inertial navigation system (SINS) Initial alignment Kalman filter OBSERVABILITY
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An improved computation scheme of strapdown inertial navigation system using rotation technique 被引量:8
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作者 张伦东 练军想 +1 位作者 吴美平 胡小平 《Journal of Central South University》 SCIE EI CAS 2012年第5期1258-1266,共9页
To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,a... To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles. 展开更多
关键词 strapdown inertial navigation system rotation technique navigation computation scheme error characteristic
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Fast Compass Alignment for Strapdown Inertial Navigation System
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作者 Jin Sun Dengyin Zhang +1 位作者 Xiaoye Shi Fei Ding 《Computers, Materials & Continua》 SCIE EI 2020年第11期1349-1360,共12页
Initial alignment is the precondition for strapdown inertial navigation system(SINS)to navigate.Its two important indexes are accuracy and rapidity,the accuracy of the initial alignment is directly related to the work... Initial alignment is the precondition for strapdown inertial navigation system(SINS)to navigate.Its two important indexes are accuracy and rapidity,the accuracy of the initial alignment is directly related to the working accuracy of SINS,but in self-alignment,the two indexes are often contradictory.In view of the limitations of conventional data processing algorithms,a novel method of compass alignment based on stored data and repeated navigation calculation for SINS is proposed.By means of data storage,the same data is used in different stages of the initial alignment,which is beneficial to shorten the initial alignment time and improve the alignment accuracy.In order to verify the correctness of the compass algorithm based on stored data and repeated navigation calculation,the simulation experiment was done.In summary,when the computer performance is sufficiently high,the compass alignment method based on the stored data and the forward and reverse navigation calculation can effectively improve the alignment speed and improve the alignment accuracy. 展开更多
关键词 strapdown inertial navigation system(SINS) compass alignment data storage reverse navigation calculation forward navigation calculation
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Simulation platform of navigation system for autonomous underwater vehicle
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作者 QIN Zheng BIAN Xin-qian 《Journal of Marine Science and Application》 2006年第4期33-37,共5页
In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net commun... In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable. 展开更多
关键词 autonomous underwater vehicle simulation platform inertial navigation terrain-aided navigation
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DESIGN AND REALIZATION OF SINS/TWO-ANTENNA GPS INTEGRATED NAVIGATION SYSTEM 被引量:2
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作者 王直 刘建业 刘波 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2006年第1期41-46,共6页
The strapdown inertial navigation system (SINS)/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phas... The strapdown inertial navigation system (SINS)/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved. 展开更多
关键词 strapdown inertial navigation system GPS Kalman filtering pseudorange carrier phase
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Application of unscented Kalman filter to novel terrain passive integrated navigation system 被引量:2
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作者 王其 徐晓苏 《Journal of Southeast University(English Edition)》 EI CAS 2007年第4期545-549,共5页
To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented. According to the characteristics of the underwater environme... To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system (SINS), the terrain reference navigation system (TRNS), the Doppler velocity sonar (DVS), the magnetic compass and the navigation computer utilizing the unscented Kalman filter (UKF) to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter (EKF), nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation. 展开更多
关键词 autonomous underwater vehicle strapdown inertial navigation system unscented Kalman filter extended Kalman filter terrain passive integrated navigation system
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SINS/CNS/GPS integrated navigation algorithm based on UKF 被引量:25
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作者 Haidong Hu Xianlin Huang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第1期102-109,共8页
A new nonlinear algorithm is proposed for strapdown inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation systems. The algorithm employs a nonl... A new nonlinear algorithm is proposed for strapdown inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter (UKF) to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle's attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm. 展开更多
关键词 navigation system integrated navigation unscented Kalman filter federated Kalman filter strapdown inertial navigation system celestial navigation system global psitioning system.
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Method of Improving the Navigation Accuracy of SINS by Continuous Rotation 被引量:22
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作者 杨勇 缪玲娟 沈军 《Journal of Beijing Institute of Technology》 EI CAS 2005年第1期45-49,共5页
A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about th... A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about the vertical axis of the vehicle. Then the errors of these sensors will have periodic variation corresponding to components along the body frame. Under this condition, the modulated sensor errors produce reduced system errors. Theoretical analysis based on a new coordinate system defined as sensing frame and test results are presented, and they indicate the method attenuates the navigation errors brought by the gyros' random constant drift and the accelerometer's bias and their white noise compared to the conventional method. 展开更多
关键词 strapdown inertial navigation system (SINS) ROTATION navigation error
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New rapid transfer alignment method for SINS of airborne weapon systems 被引量:9
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作者 Yu Chen Yan Zhao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2014年第2期281-287,共7页
Transfer alignment is an effective alignment method for the strapdown inertial navigation system (SINS) of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment ... Transfer alignment is an effective alignment method for the strapdown inertial navigation system (SINS) of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment use nonlinear transfer align- ment models and incorporate nonlinear filtering. A rapid transfer alignment method with linear models and linear filtering for ar- bitrary misalignment angles is presented. Through the attitude quaternion decomposition, the purpose of transfer alignment is converted to estimate a constant quaternion. Employing special manipulations on measurement equation, velocity and attitude linear measurement equations are derived. Then the linear trans- fer alignment model for arbitrary misalignment angles is built. An adaptive Kalman filter is developed to handle modeling errors of the measurement noise statistics. Simulation results show feasibili- ty and effectiveness of the proposed method, which provides an alternative rapid transfer alignment method for airborne weapons. 展开更多
关键词 strapdown inertial navigation system (SINS) transferalignment Kalman filter quaternion.
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A tightly coupled rotational SINS/CNS integrated navigation method for aircraft 被引量:5
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作者 NING Xiaolin YUAN Weiping LIU Yanhong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第4期770-782,共13页
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
关键词 celestial navigation system(CNS) rotation modulation technology ROTATIONAL strapdown inertial navigation system(SINS) ROTATIONAL SINS/CNS integrated navigation
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Adaptive filter for a miniature MEMS based attitude and heading reference system 被引量:3
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作者 王玫 王永泉 张炎华 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第5期571-575,共5页
An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastie model. The adaptive filter has six states with a time variable transition matrix. ... An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastie model. The adaptive filter has six states with a time variable transition matrix. When the system is in the non-acceleration mode, the accelerometer measurements of the gravity and the compass measurements of the heading have observability and yield good eslimates of the states. When the system is in the high dynamic mode and the bias has converged to an aceurate estimate, the attitude caleulation will be maintained for a long interval of time. The adaptive filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance, 展开更多
关键词 Kalman filer strapdown inertial navigation system (INS) inertial measurement unit (IMU) rotation matrix attitude and heading reference system(AHRS)
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Outdoor position estimation based on a combination system of GPS-INS by using UPF 被引量:1
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作者 Yunki Kim Jaehyun Park Jangmyung Lee 《Journal of Measurement Science and Instrumentation》 CAS 2013年第1期47-51,共5页
This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the ... This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the weak point on position estimation by the merits of GPS and INS.In general,extended Kalman filter(EKF)has been widely used in order to combine GPS with INS.However,UPF can get the position more accurately and correctly than EKF when it is applied to real-system included non-linear,irregular distribution errors.In this paper,the accuracy of UPF is proved through the simulation experiment,using the virtual-data needed for the test. 展开更多
关键词 global positioning system(GPS) unscented particle filter(UPF) navigation inertial navigation system(INS) strapdown inertial navigation system(SDINS)
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Subway location method based on SINS/DR integrated navigation and map-matching technology
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作者 XU Chen CHEN Guang-wu +1 位作者 FAN Ze-yuan LIU She-de 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2017年第4期378-383,共6页
With the development of rail transit,subway is playing an increasingly important role in peoples daily life.The positioning technology of subway is the key of communication based on train control system(CBTC).Consider... With the development of rail transit,subway is playing an increasingly important role in peoples daily life.The positioning technology of subway is the key of communication based on train control system(CBTC).Considering that the global positioning system(GPS)cant be utilized in the subway and the ground equipment is complex and expensive,a self-positioning method based on inertial measurement unit(IMU)and speed sensor is put forward,and the track electronic map is used to reduce the error.This method can suppress the error divergence of Strapdown inertial navigation system(SINS)and reduce the cumulative error of dead reckoning(DR)due to attitude error.In accordance with the particularity of railway lines,using the least squares method to match the line and revise the error caused by the navigation,can greatly improve the positioning accuracy and reduce the dependency on the ground equipment,and the costs of construction and maintenance can be lowered. 展开更多
关键词 subway location strapdown inertial navigation system (SINS) dead reckoning (DR) map-matching
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GNSS/SINS/视觉导航鲁棒算法 被引量:1
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作者 李明 柴洪洲 郑乃铨 《南京信息工程大学学报(自然科学版)》 CAS 北大核心 2024年第1期114-119,共6页
全球导航卫星系统(Global Navigation Satellite System, GNSS)、捷联惯性导航系统(Strapdown Inertial Navigation System, SINS)和视觉传感器优势互补,3者信息融合可获得高精度、无漂移的导航定位信息.针对GNSS/SINS/视觉融合导航易... 全球导航卫星系统(Global Navigation Satellite System, GNSS)、捷联惯性导航系统(Strapdown Inertial Navigation System, SINS)和视觉传感器优势互补,3者信息融合可获得高精度、无漂移的导航定位信息.针对GNSS/SINS/视觉融合导航易受运动速度、光照变化、遮挡等影响导致定位精度和鲁棒性降低问题,本文在图优化框架的代价函数中加入SoftLOne鲁棒核函数,设置量测值粗差检验程序,降低离群点带来的负面影响.进一步,对量测值计算残差进行卡方检验,对超限残差降权处理,提高系统精度和鲁棒性.实验结果表明,本文算法较不施加鲁棒核函数、不采用异常值剔除策略和卡方检验的传统算法,以及加入其他鲁棒核函数的算法精度更高、鲁棒性更好,能够较大程度提升GNSS/SINS/视觉导航定位精度和鲁棒性,在大尺度环境下,未出现较大漂移误差,绝对位姿均方根误差0.735 m,绝对位姿误差标准差0.336 m. 展开更多
关键词 全球导航卫星系统 捷联惯性导航系统 视觉 鲁棒算法 卡方检验
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两种双矢量SINS粗对准方法大俯仰角适应性研究
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作者 屈新芬 李世玲 +1 位作者 徐林 祝刚 《太赫兹科学与电子信息学报》 2024年第8期859-864,共6页
大俯仰角下捷联惯导粗对准双矢量定姿中,不同矢量组合下,姿态角尤其是方位角对准精确度相差很大,必须慎重选择。对此,给出了2种最常用的粗对准矢量组合模式误差方程,对其主要误差影响因素进行分析。综合传感器误差,利用蒙特卡洛随机打... 大俯仰角下捷联惯导粗对准双矢量定姿中,不同矢量组合下,姿态角尤其是方位角对准精确度相差很大,必须慎重选择。对此,给出了2种最常用的粗对准矢量组合模式误差方程,对其主要误差影响因素进行分析。综合传感器误差,利用蒙特卡洛随机打靶方法对全姿态角下粗对准精确度进行仿真,并开展了80°俯仰角转台静态粗对准试验。转台试验中,在惯导陀螺误差约1°/h,加速度计误差约0.1mg情况下,第1种、第2种组合模式方位角粗对准最大误差值分别为20°、7.5°,第2种组合模式约为第1种的1/3;仿真测试中,在惯导陀螺误差约0.1°/h,加速度计误差约1mg,80°俯仰角下,第1种、第2种组合模式下方位角粗对准最大误差值分别为11°与2.2°,前者约为后者的5倍。仿真与试验结果表明,大俯仰角下矢量组合模式是影响惯导姿态角与姿态矩阵粗对准精确度的最主要因素。 展开更多
关键词 捷联惯性导航系统 初始对准 静基座 双矢量定姿
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一种基于深度学习辅助的SINS/DVL组合导航方法
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作者 匡兴红 黄傲威 《系统仿真学报》 CAS CSCD 北大核心 2024年第8期1810-1822,共13页
水下机器人(autonomous underwater vehicle,AUV)导航定位精度一定上程度影响了AUV的工作效率,由于GNSS无法在水下使用,以捷联惯导系统/多普勒计程仪(SINS/DVL)的组合导航系统受到众多青睐。DVL在部分情况下会失效,若直接将DVL隔离,系... 水下机器人(autonomous underwater vehicle,AUV)导航定位精度一定上程度影响了AUV的工作效率,由于GNSS无法在水下使用,以捷联惯导系统/多普勒计程仪(SINS/DVL)的组合导航系统受到众多青睐。DVL在部分情况下会失效,若直接将DVL隔离,系统将变为纯惯性导航系统,严重影响导航定位的精度。为了应对DVL在部分波束缺失的情况,提出了一种DLinear-informer辅助组合导航算法。通过DLinear对原始输入数据特有的分解方式,增强了算法对AUV非线性信息的提取与学习,提高了速度预测精度。实验结果表明:所提算法能够准确预测DVL失效期间丢失波束的速度,降低组合导航的位置误差,提高了系统的鲁棒性和定位精度。 展开更多
关键词 水下机器人 捷联惯导系统/多普勒计程仪 组合导航 波束缺失 DLinear-informer
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捷联惯导系统IMU误差特性分析
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作者 徐开俊 董韵 +2 位作者 杨泳 孔令兵 魏阳 《西安航空学院学报》 2024年第1期1-6,共6页
为了优化捷联惯导系统惯性测量单元性能,首先,从惯性导航系统工作原理出发,细致梳理捷联惯导误差模型,对惯性测量单元常见误差源分类,重点分析主流民航客机机型捷联惯导惯性测量单元的误差特性;然后,对由5个直线段和4个转弯组成的矩形... 为了优化捷联惯导系统惯性测量单元性能,首先,从惯性导航系统工作原理出发,细致梳理捷联惯导误差模型,对惯性测量单元常见误差源分类,重点分析主流民航客机机型捷联惯导惯性测量单元的误差特性;然后,对由5个直线段和4个转弯组成的矩形起落航线,在无误差的理想模式和设置导航级捷联惯导惯性测量单元误差参数模式,分别进行轨迹仿真;最后,在飞行轨迹的姿态、速度、位置误差三维方向对比分析。结果表明,IMU误差诱使飞行轨迹随时间有偏离趋势,高度误差波动始终非常平稳,水平方向误差在一定时间后大幅度发散,表现出惯性导航性能的固有缺陷,即误差随时间的推移逐渐累积,会在一段平稳时间后呈发散趋势。因此在实际使用惯导中可以使用特殊的算法和硬件平台以延长误差发散之前的时间,也可以通过与GPS等数据进行组合导航的方式抑制其发散趋势。研究结果为进一步进行组合导航算法优化奠定基础。 展开更多
关键词 捷联惯导 惯性测量单元 误差特性
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轨迹发生器的研究进展与展望 被引量:1
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作者 丁贤 卞鸿巍 +1 位作者 王荣颖 马恒 《中国舰船研究》 CSCD 北大核心 2024年第2期215-222,共8页
轨迹发生器是对惯性导航系统及其组合导航系统进行算法研究和仿真验证的重要工具之一。首先,通过梳理分析轨迹发生器在不同运载体的研究现状,概述理想型、数值算法型、数学模型型轨迹发生器的设计方法与主要思路;然后,归纳研究重点,对3... 轨迹发生器是对惯性导航系统及其组合导航系统进行算法研究和仿真验证的重要工具之一。首先,通过梳理分析轨迹发生器在不同运载体的研究现状,概述理想型、数值算法型、数学模型型轨迹发生器的设计方法与主要思路;然后,归纳研究重点,对3类轨迹发生器进行仿真对比,分析3类轨迹发生器的特性和问题;最后,对轨迹发生器下一步的研究进行展望,为该领域的研究提供一定的思路。 展开更多
关键词 轨迹发生器 惯性导航 组合导航 模拟仿真
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一种机载惯性/光电组合导航误差修正方法
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作者 周紫君 郁丰 +2 位作者 吴方 熊智 林思颖 《中国惯性技术学报》 EI CSCD 北大核心 2024年第8期779-786,794,共9页
为提升无人机在全球卫星导航系统受限甚至拒止环境下的导航精度,提出了一种机载惯性/光电组合导航误差修正方法。考虑了捷联惯性导航系统(SINS)姿态误差对光电探测系统(EODS)定位精度的影响,建立了包含SINS姿态误差的测量方程,推导了滤... 为提升无人机在全球卫星导航系统受限甚至拒止环境下的导航精度,提出了一种机载惯性/光电组合导航误差修正方法。考虑了捷联惯性导航系统(SINS)姿态误差对光电探测系统(EODS)定位精度的影响,建立了包含SINS姿态误差的测量方程,推导了滤波观测噪声与EODS测距、测角误差之间的函数关系,建立了准确的观测噪声协方差矩阵模型。仿真结果表明:相较于传统SINS/EODS组合导航算法,所提方法滤波收敛速度更快,并且有着更高的姿态和位置精度,2000 s后横滚、俯仰、航向精度分别提高47%、59%、82%,东向、北向、天向定位精度分别提高49%、44%、25%,提升了无人机在卫星信号较弱或缺失的环境下的导航能力。 展开更多
关键词 GPS拒止 光电导航 捷联惯性导航系统 组合导航 卡尔曼滤波
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