To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two diff...To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.展开更多
Since any disturbance and fault may lead to significant performance degradation in practical dynamical systems,it is essential for a system to be robust to disturbances but sensitive to faults.For this purpose,this pa...Since any disturbance and fault may lead to significant performance degradation in practical dynamical systems,it is essential for a system to be robust to disturbances but sensitive to faults.For this purpose,this paper proposes a robust fault-detection filter for linear discrete time-varying systems.The algorithm uses H∞ estimator to minimize the worst possible amplification from disturbances to estimate errors,and H_ index to maximize the minimum effect of faults on the residual output of the filter.This approach is applied to the MEMS-based INS/GPS.And simulation results show that the new algorithm can reduce the effect of unknown disturbances and has a high sensitivity to faults.展开更多
针对工业和民用领域对姿态测量的需求,提出了基于MEMS加速度计、陀螺仪和磁强计的姿态测量系统,并采用无先导卡尔曼滤波(Unscented Kalm an F ilter,UKF)方法处理传感器数据。针对基于加速度计和磁强计的姿态测量方式在动态测量时不准...针对工业和民用领域对姿态测量的需求,提出了基于MEMS加速度计、陀螺仪和磁强计的姿态测量系统,并采用无先导卡尔曼滤波(Unscented Kalm an F ilter,UKF)方法处理传感器数据。针对基于加速度计和磁强计的姿态测量方式在动态测量时不准确的问题和单独采用陀螺仪测量角度产生漂移的问题,设计了基于方向旋转矩阵的UKF滤波器:结合两种测量方式的优点,互相克服各自的不足。经过UKF处理后:在静态测试中,测量系统没有积累误差;在动态测试中,陀螺仪补偿了加速度计和磁强计测量方法的中产生的毛刺。实验结果表明,所设计的姿态系统可以达到很高的精度;通过嵌入式系统完成数据采集和滤波,姿态测量系统具有很好的实时性。展开更多
基金supported by the National Natural Science Foundation of China (60902055)
文摘To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.
基金supported by the National Natural Science Foundation of China(60774002)the Foundation of New Century Excellent Talents in University of China(NCET-05-0177)
文摘Since any disturbance and fault may lead to significant performance degradation in practical dynamical systems,it is essential for a system to be robust to disturbances but sensitive to faults.For this purpose,this paper proposes a robust fault-detection filter for linear discrete time-varying systems.The algorithm uses H∞ estimator to minimize the worst possible amplification from disturbances to estimate errors,and H_ index to maximize the minimum effect of faults on the residual output of the filter.This approach is applied to the MEMS-based INS/GPS.And simulation results show that the new algorithm can reduce the effect of unknown disturbances and has a high sensitivity to faults.
文摘针对工业和民用领域对姿态测量的需求,提出了基于MEMS加速度计、陀螺仪和磁强计的姿态测量系统,并采用无先导卡尔曼滤波(Unscented Kalm an F ilter,UKF)方法处理传感器数据。针对基于加速度计和磁强计的姿态测量方式在动态测量时不准确的问题和单独采用陀螺仪测量角度产生漂移的问题,设计了基于方向旋转矩阵的UKF滤波器:结合两种测量方式的优点,互相克服各自的不足。经过UKF处理后:在静态测试中,测量系统没有积累误差;在动态测试中,陀螺仪补偿了加速度计和磁强计测量方法的中产生的毛刺。实验结果表明,所设计的姿态系统可以达到很高的精度;通过嵌入式系统完成数据采集和滤波,姿态测量系统具有很好的实时性。
