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1.
The heading accuracy of an existing shipborne inertial navigation system (INS) is affected by the oscillatory heading error caused by the misalignment angles between the gyro case and gyro axes. The accuracy of the heading determination system (HDS), which consists of two quadruple GPS antenna arrays, an INS, a total station surveying apparatus (TSSA), and two vessels, is affected by jump errors because of the degradation of tracking performance of the TSSA servo system in high dynamic conditions. Given that only pitch and roll of the INS are utilized in the HDS, we propose a high-accuracy heading determination system that combines the heading rate of the INS and linear fit of the heading difference between INS and HDS, to compensate for jump errors of HDS and oscillatory heading error of the INS. With the designed equipment, both jump errors and the oscillatory heading error can be suppressed effectively. The standard deviations of the heading errors are reduced from ±6 to ±2 and from ±8 to ±5 arcsec in mooring and sea tests, respectively, and a high accuracy of shipborne heading determination can be achieved since the oscillatory heading error is reduced to the 1 arcsec level. 相似文献
2.
A combined algorithm of improving INS error modeling and sensor measurements for accurate INS/GPS navigation 总被引：1，自引：1，他引：1
Although the integrated system of a differential global positioning system (DGPS) and an inertial navigation system (INS)
had been widely used in many geodetic navigation applications, it has sometimes a major limitation. This limitation is associated
with the frequent occurrence of DGPS outages caused by GPS signal blockages in certain situations (urban areas, high trees,
tunnels, etc.). In the standard mechanization of INS/DGPS navigation, the DGPS is used for positioning while the INS is used
for attitude determination. In case of GPS signal blockages, positioning is provided using the INS instead of the GPS until
satellite signals are obtained again with sufficient accuracy. Since the INS has a very short-time accuracy, the accuracy
of the provided INS navigation parameters during these periods decreases with time. However, the obtained accuracy in these
cases is totally dependent on the INS error model and on the quality of the INS sensor data. Therefore, enhanced navigation
parameters could be obtained during DGPS outages if better inertial error models are implemented and better quality inertial
measurements are used. In this paper, it will be shown that better INS error models are obtained using autoregressive processes
for modeling inertial sensor errors instead of Gauss–Markov processes that are implemented in most of the current inertial
systems and, on the other hand, that the quality of inertial data is improved using wavelet multi-resolution techniques. The
above two methods are discussed and then a combined algorithm of both techniques is applied. The performance of each method
as well as of the combined algorithm is analyzed using land-vehicle INS/DGPS data with induced DGPS outage periods. In addition
to the considerable navigation accuracy improvement obtained from each single method, the results showed that the combined
algorithm is better than both methods by more than 30%. 相似文献
3.
A CE-5T1 spacecraft completed a high-speed skip re-entry to the earth after a circumlunar flight on October 31, 2014. In addition to the strapdown inertial navigation system (SINS), a lightweight GPS receiver with rapid acquisition was developed as a navigation sensor in the re-entry capsule. The GPS receiver effectively solved the poor accuracy problem of long-term navigation using only the SINS. In contrast to ground users and low-earth-orbit spacecraft, numerous factors, including high altitude and kinetic characteristics in high-speed skip re-entry, are important for GPS positioning feasibility and were presented in accordance with the flight data. GPS solutions started at nearly 4900 km orbital altitude during the phases of re-entry process. These solutions were combined by an inertial measurement unit in a loosely coupled integrated navigation method and SINS navigation initialization. A simplified GPS/SINS navigation filter for limited resources was effectively developed and implemented on board for spacecraft application. Flight data estimation analyses, including trajectory, attitude, position distribution of GPS satellite, and navigation accuracy, were presented. The estimated accuracy of position was better than 42 m, and the accuracy of velocity was better than 0.1 m/s. 相似文献
4.
针对无源环境下无法采用卫星导航定位方式对惯性导航系统的累积误差进行修正的问题,提出一种采用高精度的矢量道路数据进行粗精匹配的导航校正算法。该方法首先通过分析惯导轨迹的特征标示点以及外接矩形,剔除明显的误匹配道路和冗余道路,获取待匹配道路集合;进而,结合ICCP算法具有匹配精度较高,匹配结果较稳定的优点,完成惯导轨迹位置误差的补偿和校正;最后,根据匹配方差和历史匹配轨迹对匹配结果的准确性进行分析和判断。仿真实验结果表明,该算法能够提高惯性导航定位误差的校正精度,减少在复杂道路交叉口等情况的误匹配。 相似文献
5.
针对卫星导航系统和惯性导航系统(INS)的不同特性,提出了一种GPS/GLONASS/INS数据融合算法。采用差分自适应检测算法、改进码平均相位算法以及位置联合解算方法实现了GPS/GLONASS数据融合,借助于改进的粒子滤波器、INS误差模型建立系统状态方程和观测方程,完成GPS/GLONASS系统速度值和INS系统速度值数据融合,提高组合导航系统精度和可靠性。使用真实数据对数据融合算法性能进行仿真分析,结果表明所设计算法是有效的,能够处理非线性非高斯条件下的滤波估计,提高滤波精度和系统可靠性。 相似文献
6.
Adaptive GPS/INS integration for relative navigation 总被引：1，自引：0，他引：1
Je Young Lee Hee Sung Kim Kwang Ho Choi Joonhoo Lim Sebum Chun Hyung Keun Lee 《GPS Solutions》2016,20(1):63-75
Relative navigation based on GPS receivers and inertial measurement units is required in many applications including formation flying, collision avoidance, cooperative positioning, and accident monitoring. Since sensors are mounted on different vehicles which are moving independently, sensor errors are more variable in relative navigation than in single-vehicle navigation due to different vehicle dynamics and signal environments. In order to improve the robustness against sensor error variability in relative navigation, we present an efficient adaptive GPS/INS integration method. In the proposed method, the covariances of GPS and inertial measurements are estimated separately by the innovations of two fundamentally different filters. One is the position-domain carrier-smoothed-code filter and the other is the velocity-aided Kalman filter. By the proposed two-filter adaptive estimation method, the covariance estimation of the two sensors can be isolated effectively since each filter estimates its own measurement noise. Simulation and experimental results demonstrate that the proposed method improves relative navigation accuracy by appropriate noise covariance estimation. 相似文献
7.
In the complex urban environments, land vehicle navigation purely relying on GNSS cannot satisfy user needs due to the loss of satellite signals caused by obstructions such as buildings, tunnels, and trees. To solve this problem, we introduce a GPS-/MSINS-/magnetometer-integrated urban navigation system based on context awareness. In this system, the data from the Micro Strapdown Inertial Navigation System (MSINS) are used to analyze and detect the context knowledge of vehicles, whose sensor errors can be compensated by the heuristic drift reduction algorithm for different motion situations. When GPS is available, the vehicle position can be estimated by unscented Kalman Filter, whereas in the case of GPS outages, the vehicle attitude is provided by an attitude and heading reference system and the motion constraints-aided algorithm is used to complete the positioning. In the experiment validation, the integrated navigation system is set up by low-cost inertial sensors. The result shows that the proposed system can achieve high accuracy when GPS is available. For most of the time without GPS, the system can guarantee the positioning precision of 10 m and compensate the errors of MSINS effectively, which fully satisfies positioning needs in complex urban environments. 相似文献
8.
顾及动力学模型误差影响的GPS/INS组合导航自适应滤波算法 总被引：1，自引：1，他引：0
在顾及动力学模型随机误差的情况下,设计了一种GPS/INS自适应滤波算法.针对BP神经网络存在的训练速度慢、易陷入局部极小值等问题,对神经网络学习算法进行了改进.利用神经网络进一步减小系统误差对导航解的影响,给出了顾及动力学模型随机误差和系统误差的GPS/INS自适应滤波算法,并利用实测数据验证了算法的有效性. 相似文献
9.
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11.
重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息──重力来完成水下运动载体的辅助惯性导航与定位。为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正。分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法。 相似文献
12.
GAINS中重力传感器信息的扰动改正 总被引：5，自引：0，他引：5
重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息重力来完成水下运动载体的辅助惯性导航与定位.为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正.分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法. 相似文献
13.
This paper (the first part of two to be published in this journal) presents the process and results of a critical review of
the integrated GPS and inertial navigation system (INS) architectures, the corresponding failure modes and the existing integrity
monitoring methods. The paper concludes that tightly coupled GPS/INS systems have the highest potential for detecting slowly
growing errors (SGEs). This is due to access to pseudorange measurements and a relatively simpler configuration compared to
the other architectures. The second paper (Part II) takes this further and carries out a detailed characterisation of the
performance of the current integrity algorithms for tightly coupled systems and develops a new algorithm that detects SGEs
faster than the current methods. 相似文献
14.
GPS Solutions - Integration of the global positioning system (GPS) with inertial navigation system (INS) has been very intensively studied and widely applied in recent years. Conventional GPS/INS... 相似文献
15.
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
16.
The method of integrated data processing for GPS and INS(inertial navigation system) field test over the Rocky Mountains using the adaptive Kalman filtering technique is presented. On the basis of the known GPS outputs and the offset of GPS and INS, state equations and observations are designed to perform the calculation and improve the navigation accuracy. An example shows that with the method the reliable navigation parameters have been obtained. 相似文献
17.
GUO Hang YU Min GAO Weiguang LIU Jingnan 《地球空间信息科学学报》2006,9(4):240-243
IntroductionGPS/INS integrated system exploited the INSand differential GPS pseudo-range and carrierphase technique to promote the accuracy of thedynamic platform navigation and positioning,and increase the reliability and stabilization.Incalculation, Kal… 相似文献
18.
基于小波阈值消噪自适应滤波的GPS/INS组合导航 总被引：9，自引：2，他引：9
惯导系统中惯性元件误差是影响惯性导航及其组合导航精度的重要因素.在GPS/INS组合导航自适应滤波的基础之上,提出利用小波进行阈值消噪以提高组合导航精度.首先对惯性元件输出信号进行频谱分析,确定相应的多分辨分析尺度以及不同尺度下对高频系数采取的相应措施.对噪声占主要成分的尺度将其高频系数全部置零,对噪声和有用信号共同占有的尺度将其高频系数作阈值处理.利用实测数据进行验证,结果表明这种方法能够有效地削弱惯性元件误差的影响,提高GPS/INS组合导航系统的精度和可靠性. 相似文献
19.
The problem of navigation systems with uncertain noise is considered. A minimax robust filtering which can minimize the worst
performance under noise uncertainties using the game theory is proposed. This new filter is applied to an integrated GPS/INS
navigation system. A high dynamics aircraft trajectory is designed to test the new filter. The results show that minimax robust
filtering performs better than standard Kalman filtering when noise parameters of an inertial measurement unit change their
statistical properties.
Received: 21 October 1997 / Accepted: 26 May 1999 相似文献
20.
CNS+GNSS+INS船载高精度实时定位定姿算法改进研究 总被引：2，自引：1，他引：1
天文导航（CNS）、卫星导航（GNSS）和惯性导航（INS）3种系统组合可提供高精度的定位定姿结果。实际工程中因INS长时间误差累积，以及系统硬件传输存在不可忽略的时间延迟，导致INS提供给CNS的预报粗姿态误差较大，恶劣海况下难以保障快速搜星，造成天文导航可靠性下降、姿态测量精度较低的问题。为此，本文提出了一种CNS+GNSS+INS高精度信息融合实时定位定姿框架，引入了等角速度外推措施，有效地解决了惯导信息延迟问题。通过高精度转台模拟恶劣海况下载体大角速度摇摆，验证了本文提出的改进算法的有效性。试验结果表明，该算法架构简单，性能可靠，显著提高了恶劣环境下星敏感器的快速、准确搜星能力，保障了三组合姿态测量的精度和可用性。 相似文献