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Using the information of gravity filed for aided inertial navigation can ensure the system's passive resistance and anti-jamming, and has become the hot topic of integrated navigation field. In this paper, we establish state-space model derived from the error equation of Inertial Navigation System (INS), and set the difference between indicated gravity anomaly and measured gravity anomaly which contains...
Aiming at solving the problem that the integrated navigation system which consists of inertial navigation system (INS) and dead reckoning (DR) has outliers and disturbance in measurement, as well as uncertainty in modeling, this paper proposes a new data processing method based on the technology of robust Kalman filtering (KF). The robust estimation is adopted to eliminate the outliers of the measurement...
In order to precisely test attitudes of rolling projectiles by using inertial measurement system, a novel method of half-strap down inertial measurement is proposed in this paper. Its key thought is to make inertial measurement system not rotate with rolling projectiles, and keep its longitudinal axis accordance with the longitudinal axis of rolling projectile by using a special half-strap down structure...
The estimation of the position of a person in a building is a must for creating Intelligent Spaces. State-of-the-art Local Positioning Systems (LPS) require a complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used to estimate the movement of a person; a methodology that is called Pedestrian Dead-Reckoning (PDR)....
A new method for instantaneous position and pose measurements of fast-moving railway vehicles is proposed to solve the measurement reference problem encountered in applications of kinematical examination on the safety status of railway infrastructures. By utilizing reflection mirror sets installed on the ground, onboard lasers, and onboard imaging and monitoring equipments, this method can measure...
For a parallel kinematic machine (PKM), encoders may be used to measure the relative change in length of the strut but they cannot detect any deformation of the strut due to thermal expansion and load. To obtain this type of data displacement should be directly measured for each strut. The use of inertial sensors provides a possible solution for the PKM strut length measurement. However, due to the...
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