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With the rapid development in technology of Fiber Optical Gyroscope (FOG), the Platform Inertial Navigation System has been replaced by FOG Strapdown Inertial Navigation Sysem (FOG SINS) gradually. In this paper, an Euler angle nonlinear error model is introduced for large attitude misalignment of FOG SINS. Then, based on matrix singular value decomposition and cubature rule for Gaussian-weighted...
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...
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...
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,...
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...
Unscented Kalman filter (UKF) has been proven to be a superior alternative to the extended Kalman filter (EKF) when solving the nonlinear system in previous literatures. In order to accelerate the application of UKF in the actual system, a new simplified UKF is proposed in this paper. It is called Rao-Blackwellised additive unscented Kalman filter (RBAUKF), and is specially designed for the dynamic...
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...
This paper presents a nonlinear error model based on the quaternion for the rapid transfer alignment of the inertial navigation system (INS). It allows the large initial misalignment uncertainty. Then, the unscented Kalman filter (UKF) is designed to achieve the nonlinear filtering based on the proposed model, and utilizes the difference in velocity and attitude between the slave and master INS as...
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