推导了捷联惯导系统(S IN S)误差方程和航位推算(DR)误差方程。建立了S IN S/DR组合导航离散卡尔曼滤波(KF)状态方程和量测方程。最后对S IN S/DR组合导航算法进行了仿真,仿真结果表明:组合系统中部分误差源能够被估计出来并且得到补偿...推导了捷联惯导系统(S IN S)误差方程和航位推算(DR)误差方程。建立了S IN S/DR组合导航离散卡尔曼滤波(KF)状态方程和量测方程。最后对S IN S/DR组合导航算法进行了仿真,仿真结果表明:组合系统中部分误差源能够被估计出来并且得到补偿,因而组合导航效果优于单独的S IN S或DR导航效果。展开更多
Roll-isolation is an effective way for spinning vehicle to greatly reduce the roll gyro range of strapdown Inertial Navigation System(SINS)and increase the accuracy of inertial navigation.However,during a recent fligh...Roll-isolation is an effective way for spinning vehicle to greatly reduce the roll gyro range of strapdown Inertial Navigation System(SINS)and increase the accuracy of inertial navigation.However,during a recent flight test,the roll-isolated control system failure was observed under a large pitch angle(706 h 685),which introduces a sharply increase in the roll angular velocity,the saturation of roll gyro and the inertial navigation failure.To address this issue,the governing equation of the roll-isolated system is derived with the consideration of various disturbance factors.The control failure is reproduced by numerical simulation.And the results show that the pitch and yaw angular velocity can cause a dramatic increase in roll rate under the large pitch angle,resulting in the roll-isolated control failure.Meanwhile,an improved roll-isolated control system is developed using PI controller,which is verified by mathematical simulation.展开更多
Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft ...Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft threshold that presents some mathematical problems.An adaptive dual threshold for discrete wavelet transform(DWT)denoising function overcomes the disadvantages of traditional approaches.Assume that two thresholds for noise and signal and special fuzzy evaluation function for the signal with range between the two thresholds assure continuity and overcome previous difficulties.On the basis of AV,an application for strap-down inertial navigation system(SINS)stochastic model extraction assures more efficient tuning of the augmented 21-state improved exact modeling Kalman filter(IEMKF)states.The experimental results show that the proposed algorithm is superior in denoising performance.Furthermore,the improved filter estimation of navigation solution is better than that of conventional Kalman filter(CKF).展开更多
文摘推导了捷联惯导系统(S IN S)误差方程和航位推算(DR)误差方程。建立了S IN S/DR组合导航离散卡尔曼滤波(KF)状态方程和量测方程。最后对S IN S/DR组合导航算法进行了仿真,仿真结果表明:组合系统中部分误差源能够被估计出来并且得到补偿,因而组合导航效果优于单独的S IN S或DR导航效果。
基金co-supported by the National Science Foundation of China(No.11532002)Science Challenge Project of China(No.TZ2018001)。
文摘Roll-isolation is an effective way for spinning vehicle to greatly reduce the roll gyro range of strapdown Inertial Navigation System(SINS)and increase the accuracy of inertial navigation.However,during a recent flight test,the roll-isolated control system failure was observed under a large pitch angle(706 h 685),which introduces a sharply increase in the roll angular velocity,the saturation of roll gyro and the inertial navigation failure.To address this issue,the governing equation of the roll-isolated system is derived with the consideration of various disturbance factors.The control failure is reproduced by numerical simulation.And the results show that the pitch and yaw angular velocity can cause a dramatic increase in roll rate under the large pitch angle,resulting in the roll-isolated control failure.Meanwhile,an improved roll-isolated control system is developed using PI controller,which is verified by mathematical simulation.
文摘Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft threshold that presents some mathematical problems.An adaptive dual threshold for discrete wavelet transform(DWT)denoising function overcomes the disadvantages of traditional approaches.Assume that two thresholds for noise and signal and special fuzzy evaluation function for the signal with range between the two thresholds assure continuity and overcome previous difficulties.On the basis of AV,an application for strap-down inertial navigation system(SINS)stochastic model extraction assures more efficient tuning of the augmented 21-state improved exact modeling Kalman filter(IEMKF)states.The experimental results show that the proposed algorithm is superior in denoising performance.Furthermore,the improved filter estimation of navigation solution is better than that of conventional Kalman filter(CKF).
