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The initial alignment error model of strap-down inertial navigation system is nonlinear under large azimuth misalignment angle condition, and it could be processed by the particle filter algorithm. In order to solve the problem that importance density function of the particle filter is difficult to select, a new robust adaptive cubature particle filter algorithm is proposed. The equivalent weight...
Initial alignment is one of the key technologies in Strapdown inertial navigation system (SINS). It is divided into coarse alignment and fine alignment. The conventional method of fine alignment is to adopt Kalman filtering and uses single filter to estimate system states. In Kalman filtering, it is known that system model should be matched with actual system and the statistical characteristics of...
Since the MIMU/GPS has advantages of low-cost and small-size, it can be widely used in the field of vehicle navigation. For the traditional MIMU/GPS integrated navigation system, the Kalman filter is used to fuse the information of MIMU and GPS to achieve the goal of navigation and positioning of vehicle. GPS provides users with highly accurate three-dimensional position and velocity informations...
In this paper, a new Krein space approach to robust filtering for linear systems with multiple uncertainties is developed. The multiple uncertainties satisfy the energy-type constraints, entering into both state and measurement equations. The proposed approach is used to tackle the sub-optimization problem arising from a sum quadratic constraint (SQC) of system uncertainties. To this end, a novel...
This work uses the weights and network output of neural networks (NN) as state equation and measurement equation for chaotic time-series' prediction to obtain the linear state transition equation which is different from the previous filtering methods based chaotic time-series' prediction, and the prediction results of chaotic time series is represented by the predicted measurement value. An efficient...
In order to satisfy the calibration precision of fiber optic gyro units used in the strap-down inertial navigation system, this paper proposes a combination calibration method. First, according to the characteristics of high precision turntable positioning, a static discrete calibration is proposed. It makes use of the Earth's rotational speed and a special calibration path to calibrate the fiber...
In this paper, the issue of fine alignment method about Doppler-assisted Strapdown inertial navigation system is studied. The main errors of the typical fine alignment method are analysed. The problem of the typical fine alignment method is the speeds measured by Doppler velocity log have to be transformed from the body frame to the navigation frame. But the relationship between the body frame and...
Zero Velocity Update (ZUPT) utilizes the zero velocity condition for stationary Strapdown Inertial Navigation System (SINS), executes navigation errors estimation and emendation to control SINS position growth. The improved filter estimation ZUPT is proposed in this paper. Two technologies, separate-bias Kalman filter and yaw error rapid estimation, are applied in the proposed method. Separate-bias...
An improved adaptive extended Kalman filtering algorithm is proposed here to estimate the measurement noise on-line for the SINS/GPS integrated navigation systems. The measurement remnant chi-square method is used to automatically adjust the sliding window basing on the innovation sequence. The experiment result shows that this new approach could improve the accuracy of the integrated navigation system...
A seamless changing method for AUV integrated navigation system was proposed considering the SINS/DVL and Compass/DVL integrated navigation method have their own advantage for linear motion and curvilinear motion. Bearing consistent check combining with the measure remnant method was discussed as the maneuver checking method, and the adaptive Kalman filter was used by SINS/DVL integrated navigation...
This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GPS/INS navigation systems. Usually, an extended Kalman filter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view,...
The optimal two-position alignment using Kalman filter is newly derived for strapdown inertial navigation system (SINS). During the alignment process, SINS is rotated with respect to the heading axis. The Kalman filter estimates the misalignments and gyro drifts at these two positions. In terms of the relationship between yaw misalignments and gyro drifts, the horizontal gyro drifts can be computed...
As for in-motion alignment of strapdown inertial navigation system (SINS), two groups of nonlinear filtering approaches are compared in this paper: Gaussian approximation and Monte Carlo simulation. The former group, consisting of the extended kalman filter (EKF) and unscented kalman filter (UKF), approximates probability densities of nonlinear systems using either single or multiple points in a state...
This paper presents a velocity matching scheme for rapid transfer alignment of INS. Velocity matching algorithm is known as one of the best matching algorithm of SINS in-motion alignment since it can achieve high alignment accuracy without lengthy time requirement. We try to find a more excellent filter than the traditional kalman filter in this paper. Firstly the mathematical model of velocity matching...
The problem of adjusting parameters with a separate-bias Kalman filter is addressed for improving the alignment performance of strapdown inertial navigation system (SINS). To reduce the load of navigation computer, the technique of separate bias is implemented. The influence of initial condition and noise covariance on separate-bias Kalman filter is analyzed. The adjustment method using which the...
The paper derived the initial alignment error equation of the SINS (strapdown inertial navigation system) when the azimuth errors are considerably large. Because of including the nonlinear part in the equation, two methods of extended Kalman filter and scaled unscented Kalman filter are used to simulate the nonlinear system. The simulation results show that the accuracy of scaled unscented Kalman...
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