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目前全球卫星导航系统/惯性导航系统(GNSS/INS)组合系统性能测试评估技术存在评价方式单一,数据自动化处理程度不高等问题.针对系统的姿态性能,研究了GNSS/INS组合导航姿态性能动态测试评估新方法,并研发了相应的自动化控制测试评估软件.该方法基于高精度三轴动态基准仿真转台进行,首先通过多转位、多姿态运动场景的任务进行测试,采集转台三轴运动姿态数据与组合导航系统输出数据,然后利用Thompson奇异值剔除法对实测数据进行处理,最后结合转台实测数据进行不确定度分析从而完成测试评估工作.针对微机电系统(MEMS)组合导航产品开展了两组测试,实测结果表明:该方法可以较好地抑制组合导航系统中出现的奇异值点,同时转台的不确定度值均在0.2″以内,验证了该测试评估方法的高可行性与可靠性. 相似文献
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机载激光雷达技术(Light Detection And Ranging,LiDAR)是一种集激光测距、计算机、全球定位系统和惯性导航系统等技术于一身的崭新技术,用于获取高精度、高密度的3维坐标数据.本文以机载LiDAR技术获得的数据为例,通过应用POS软件、Terra和LPS模块获得所需要的图像,并得到预期所需的图像边缘. 相似文献
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Error sources which decrease the accuracy of GPS in absolute velocity determination have been changed since SA was turned off. Firstly, quantities of all kinds of error sources that influence velocity determination are analyzed. The potential accuracy of GPS absolute velocity determination is derived from both theory and field GPS data simulation. After that, two tests were carried out to evaluate the performance of GPS absolute velocity determination in the case of a static and an airborne GPS receiver and INS （Inertial Navigation System） instrument in kinematic mode. In static mode, the receiver velocity has been estimated to be several mm/s with the carrier-phase derived Doppler measurements, and several cm/s with the receiver generated Doppler measurements. In kinematic mode, GPS absolute velocity estimates are compared with the synchronized measurements from the high accuracy INS. The root mean square statistics of the velocity discrepancies between GPS and INS come up to dm/s. Moreover, it has a strong correlation with the acceleration or jerk of the aircraft. 相似文献
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In order to achieve a precise positioning solution from GPS, the carrier-phase measurements with correctly resolved integer ambiguities must be used. Based on the integration of GPS with pseudolites and Inertial Navigation Systems (INS), this paper proposes an effective procedure for single-frequency carrier-phase integer ambiguity resolution. With the inclusion of pseudolites and INS measurements, the proposed procedure can speed up the ambiguity resolution process and increase the reliability of the resolved ambiguities. In addition, a recently developed ambiguity validation test, and a stochastic modelling scheme (based on-line covariance matrix estimation) are adapted to enhance the quality of ambiguity resolution. The results of simulation studies and field experiments indicate that the proposed procedure indeed improves the performance of single-frequency ambiguity resolution in terms of both reliability and time-to-fix-ambiguity. 相似文献
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Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications 总被引：3，自引：3，他引：3
Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) technologies, which has widespread usage
in industry, is also regarded as an ideal solution for automated agriculture because it fulfils the accuracy, reliability
and availability requirements of industrial and agricultural applications. Agriculture applications use position, velocity
and heading information for automated vehicle guidance and control to enhance the yield and quality of the crop, and in order
to vary the application of fertilizer and herbicides according to soil heterogeneity at sub-field level. A loosely coupled
GPS/INS integration algorithm known as “AhrsKf” is introduced for automated agriculture vehicle guidance and control utilizing
MEMS inertial sensors and GPS. The AhrsKf can produce high-frequency attitude solutions for the vehicle’s guidance and control
system, by using inputs from a single survey grade L1/L2 antenna, eliminating the need for the previous two antenna solutions.
Given its agricultural application, the AhrsKf has been implemented with some specific design features to improve the accuracy
of the attitude solution including, temperature compensation of the inertial sensors, and the aid of plough lines of farm
lands. To evaluate the AhrsKf solution, two benchmarking tests have been conducted by using a three-antenna GPS system and
NovAtel’s SPAN-CPT. The results have demonstrated that the AhrsKf solution is stable and can correctly track the movement
of the farming vehicle. 相似文献
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The integration of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) technologies is a very useful navigation option for high-accuracy positioning in many applications. However, its performance is still limited by GNSS satellite availability and satellite geometry. To address such limitations, a non-GNSS-based positioning technology known as “Locata” is used to augment a standard GNSS/INS system. The conventional methods for multi-sensor integration can be classified as being either in the form of centralized Kalman filtering (CKF), or decentralized Kalman filtering. However, these two filtering architectures are not always ideal for real-world applications. To satisfy both accuracy and reliability requirements, these three integration algorithms—CKF, federated Kalman filtering (FKF) and an improved decentralized filtering, known as global optimal filtering (GOF)—are investigated. In principle, the GOF is derived from more information resources than the CKF and FKF algorithms. These three algorithms are implemented in a GPS/Locata/INS integrated navigation system and evaluated using data obtained from a flight test. The experimental results show that the position, velocity and attitude solution derived from the GOF-based system indicate improvements of 30, 18.4 and 20.8% over the CKF- and FKF-based systems, respectively. 相似文献
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A wavelet-extreme learning machine for low-cost INS/GPS navigation system in high-speed applications
The combined navigation system consisting of both global positioning system (GPS) and inertial navigation system (INS) results in reliable, accurate, and continuous navigation capability when compared to either a GPS or an INS stand-alone system. To improve the overall performance of low-cost micro-electro-mechanical systems (MEMS)-based INS/GPS by considering a high level of stochastic noise on low-cost MEMS-based inertial sensors, a highly complex problems with noisy real data, a high-speed vehicle, and GPS signal outage during our experiments, we suggest two approaches at different steps: (1) improving the signal-to-noise ratio of the inertial sensor measurements and attenuating high-frequency noise using the discrete wavelet transform technique before data fusion while preserving important information like the vehicle motion information and (2) enhancing the positioning accuracy and speed by an extreme learning machine (ELM) which has the characteristics of quick learning speed and impressive generalization performance. We present a single-hidden layer feedforward neural network which is employed to optimize the estimation accuracy and speed by minimizing the error, especially in the high-speed vehicle and real-time implementation applications. To validate the performance of our proposed method, the results are compared with an adaptive neuro-fuzzy inference system (ANFIS) and an extended Kalman filter (EKF) method. The achieved accuracies are discussed. The results suggest a promising and superior prospect for ELM in the field of positioning for low-cost MEMS-based inertial sensors in the absence of GPS signal, as it outperforms ANFIS and EKF by approximately 50 and 70%, respectively. 相似文献
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ＳＩＮＳ／ＧＰＳ组合导航技术为研究地球重力场开辟了一条崭新的探索途径。可以在运动过程中同时测定重力异常和垂线偏差，从而实现真正的动态矢量重力测量。本文研究了这种新理论方法的数学模型及实现方法，并针对重力扰动矢量的确定探讨了这种新技术的分辨率。 相似文献
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GPS/INS navigation precision and its effect on airborne radio occultation retrieval accuracy 总被引：1，自引：1，他引：0
Paytsar Muradyan Jennifer S. Haase Feiqin Xie James L. Garrison Justin Voo 《GPS Solutions》2011,15(3):207-218
An airborne radio occultation (RO) system has been developed to retrieve atmospheric profiles of refractivity, moisture, and temperature. The long-term objective of such a system is deployment on commercial aircraft to increase the quantity of moisture observations in flight corridors in order to improve weather forecast accuracy. However, there are several factors important to operational feasibility that have an impact on the accuracy of the airborne RO results. We investigate the effects of different types of navigation system noise on the precision of the retrieved atmospheric profiles using recordings from the GNSS Instrument System for Multistatic and Occultation Sensing (GISMOS) test flights, which used an Applanix POS/AV 510 Global Positioning System (GPS)/Inertial Navigation System (INS). The data were processed using a carrier phase differential GPS technique, and then the GPS position and inertial measurement unit data were combined in a loosely coupled integrated inertial navigation solution. This study quantifies the velocity precision as a function of distance from GPS reference network sites, the velocity precision with or without an inertial measurement unit, the impact of the quality of the inertial measurement unit, and the compromise in precision resulting from the use of real-time autonomous GPS positioning. We find that using reference stations with baseline lengths of up to 760?km from the survey area has a negligible impact on the retrieved refractivity precision. We also find that only a small bias (less than 0.5% in refractivity) results from the use of an autonomous GPS solution rather than a post-processed differential solution when used in an integrated GPS/INS system. This greatly expands the potential range of an operational airborne radio occultation system, particularly over the oceans, where observations are sparse. 相似文献
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LIDAR技术在电力线路工程中的应用 总被引：2，自引：0，他引：2
LIDAR(Light Detection And Ranging)技术是集激光测距、航空摄影、差分GPS、惯性导航系统(INS)等多种测量技术的新型测量系统。本文对LIDAR技术的原理、构成、作业模式进行了一些介绍,概述了其在电力线路工程中的应用。 相似文献
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扩展区间Kalman滤波器及其在GPS/INS组合导航中的应用 总被引：16，自引：1，他引：15
针对具有不确定动态模型参数的 GPS/INS 组合导航系统,首先介绍一种新型的区间Kalman滤波器,讨论了GPS/INS 组合系统中模型参数不确定性的问题,分析了惯性传感器建模中相关时间常数的区间特性,并建立了适合非线性特性的GPS/INS组合系统的扩展区间卡尔曼滤波器.计算结果表明,扩展区间卡尔曼滤波器对非线性GPS/INS组合系统是很有效的,它能给出组合系统导航误差的上下界,这对组合系统的设计具有指导的意义. 相似文献
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Xiaopeng Li 《Journal of Geodesy》2011,85(9):597-605
Combining data from a Strapdown Inertial Navigation System and a Differential Global Positioning System (SINS/DGPS) has shown
great promise in estimating gravity on moving platforms. Previous studies on a ground-vehicle system obtained 1–3 mGal precision
with 2 km spatial resolution. High-accuracy Inertial Measurement Units (IMU) and cm-level positioning solutions are very important
in obtaining mGal-level gravity disturbance estimates. However, these ideal configurations are not always available or achievable.
Because the noise level in the SINS/DGPS gravimetric system generally decreases with an increase of speed and altitude of
the platform, the stringent constraints on the IMU and GPS may be relieved in the airborne scenario. This paper presents an
investigation of one navigation-grade and one tactical-grade IMU for the possibility of low-cost INS/GPS airborne gravimetry.
We use the data collected during the Gravity-Lidar Study of 2006 (GLS06), which contains aerogravity, GPS, and INS along the
northern coastline of the Gulf of Mexico. The gravity disturbance estimates from the navigation-grade IMU show 0.5–3.2 mGal
precision compared with the onboard gravimeter’s measurements and better than 3 mGal precision compared with the upward continued
surface control data. Due to relatively large (240 s) smoothing window, the results have about 34 km along-track resolution.
But the gravity estimates from the tactical-grade IMU have much poorer precisions. Nonetheless, useful contributions from
the tactical-grade IMU could be extracted for longer wavelengths. 相似文献
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载体角运动对旋转调制惯导系统误差影响分析 总被引：1，自引：0，他引：1
针对典型的双轴转停旋转调制系统,从捷联惯导姿态角误差方程出发,理论分析了载体角运动对旋转调制效果的影响。刻度系数误差导致的直流分量误差可等效为不可调制的常值陀螺漂移,对系统的精度水平有较大影响。安装误差导致的交流分量误差可等效为周期振荡的陀螺仪漂移,对系统精度影响较小。仿真结果有效验证了相关分析结论。 相似文献
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Pece V. Gorsevski Paul E. Gessler 《ISPRS Journal of Photogrammetry and Remote Sensing》2009,64(2):184-192
Flexible and cost-effective tools for rapid image acquisition and natural resource mapping are needed by land managers. This paper describes the hardware and software architecture of a low-cost system that can be deployed on a light aircraft for rapid data acquisition. The Hyperspectral and Multispectral Cameras for Airborne Mapping (HAMCAM) was designed and developed in the Geospatial Laboratory for Environmental Dynamics at the University of Idaho as a student-learning tool, and to enhance the existing curriculum currently offered. The system integrates a hyperspectral sensor with four multispectral cameras, an Inertial Navigation System (INS), a Wide Area Augmentation System (WAAS)-capable Global Positioning System (GPS), a data acquisition computer, and custom software for running the sensors in a variety of different modes. The outputs include very high resolution imagery obtained in four adjustable visible and near-infrared bands from the multispectral imager. The hyperspectral sensor acquires 240 spectral bands along 2.7 nm intervals within the 445–900 nm range. The INS provides aircraft pitch, roll and yaw information for rapid geo-registration of the imagery. This paper will discuss the challenges associated with the development of the system and the integration of components and software for implementation of this system for natural resource management applications. In addition, sample imagery acquired by the sensor will be presented. 相似文献
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LIDAR Data Filtering and DTM Interpolation Within GRASS 总被引：5，自引：0，他引：5
LIDAR (Light Detection and Ranging) is one of the most recent technologies in surveying and mapping. LIDAR is based on the combination of three different data collection tools: a laser scanner mounted on an aircraft, a Global Positioning System (GPS) used in phase differential kinematic modality to provide the sensor position and an Inertial Navigation System (INS) to provide the orientation. The laser sends towards the ground an infrared signal, which is reflected back to the sensor. The time employed by the signal, given the aircraft position and attitude, allows computation of the earth point elevation. In standard conditions, taking into account the flight (speed 200–250 km/hour, altitude 500–2,000 m) and sensor characteristics (scan angle ± 10–20 degrees, emission rate 2,000–50,000 pulses per second), earth elevations are collected within a density of one point every 0.5–3 m. The technology allows us therefore to obtain very accurate (5–20 cm) and high resolution Digital Surface Models (DSM). For many applications, the Digital Terrain Model (DTM) is needed: we have to automatically detect and discard from the previous DSM all the features (buildings, trees, etc.) present on the terrain. This paper describes a procedure that has been implemented within GRASS to construct DTMs from LIDAR source data. 相似文献
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传统的实时动态定位(RTK)技术测量时必须使全球卫星导航系统(GNSS)接收机天线相位中心与测量点保持相对垂直才能够保证测量成果精度,测量时一般要架设三脚架;当使用对中杆测量时,测量者必须保证对中杆水准气泡相对居中才能保证测量成果的精度,测量过程较为费时费力.惯性导航系统(INS)的出现,改变了人们对传统RTK测绘技术的应用习惯,测量过程中一般不需要架设三脚架,测量对中杆在一定范围内保持任意的倾斜状态,测量过程相对轻松自如,大大减轻了测量工作劳动强度,提高了测绘工作效率.论文主要分析了INS的定位原理和其技术优势,并强调了只有熟练掌握惯导RTK技术在实际应用中的注意事项,才能使其发挥最大的效益与效率. 相似文献