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The initial alignment accuracy of strapdown inertial navigation system (SINS) is limited by the gyro drift and accelerometer bias, and the integrated alignment is generally used to diminish the error of initial alignment. In this paper, a reasonable dual-axis rotation scheme is designed to improve the observability degree of rotary strapdown inertial navigation system, and a novel integrated alignment...
An embedded Least Squares Support Vector Machines prediction anti-occlusion Kalman-MeanShift tracking algorithm was proposed to solve the poor tracking ability problem in occlusions. The proposed technique employed MeanShift algorithm iterations to derive the object candidate which was the most similar to a given object model, then used Kalman filter to estimate the real states of the object. When...
Multi-target tracking is an important component of a surveillance, guidance, and obstacle avoidance system. The probability hypothesis density (PHD) filter is an attractive approach to tracking an unknown, and time varying number of targets in the presence of data association uncertainty, clutter, noise, and miss-detection. But there is no closed-form solution to the PHD recursion. Another approach...
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...
A series of river trials are carried out to verify the feasibility of the velocity matching method and the velocity plus attitude matching method. First of all, a hardware-in-the-loop simulation system is designed in this paper. Secondly, the kalman filter models for velocity matching and velocity plus attitude matching are introduced. Four types of river trials are done, respectively, velocity matching...
A initial alignment algorithm in the inertial frame based on the alignment application of Kalman filter was presented. State and observation equations of strapdown inertial navigation system (SINS) are established using Kalman filter by the gravity vector projected in the inertial frame, and the initial alignment of the SINS based on the inertial frame on stationary base was compared with the alignment...
With the development of the dynamic base transfer alignment how to resolve accuracy evaluation is significantly important to determine transfer alignment program and value navigation system performance. The smoothing algorithm is a method to evaluate accuracy evaluation. This paper deeply analyzes the method which adopts fixed-point and fixed regional smoothing technology to evaluate the accuracy...
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...
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