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动态重力仪和惯性导航系统的核心元件都是惯性元件,即陀螺仪和加速度计(重力传感器可以认为是一种特殊的加速度计),因此重力测量与惯性导航具有紧密的联系。从比力测量、物理与数学平台、惯性手段辅助重力测量,以及重力辅助惯性导航等方面分析了重力仪与惯性导航系统的紧密联系。并对惯性导航与重力测量的融合应用进行了分析。 相似文献
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A four‐antenna GPS attitude determination system was used to estimate roll, pitch, and heading parameters of a 52‐meter surveying vessel in an operational marine environment. The least squares algorithm for platform attitude estimation using multiple baseline vector observables is presented. An efficient on‐the‐fly carrier phase ambiguity searching method is derived, which utilizes the Cholesky decomposition method and the known baseline constraints between the GPS antennas to construct the potential ambiguity sets on the sphere. The accuracy of the estimated attitude parameters from the GPS multi‐antenna system was assessed with an independent inertial navigation system (INS). Results from sea trials show that the proposed GPS multi‐antenna system and processing algorithms delivered a satisfactory performance under various ship maneuvers. The accuracy of GPS estimated ship attitude parameters is better than 0.06 degrees at an output rate of 10 Hz. Such a performance demonstrates a new alternative means to provide accurate, reliable, and cost‐effective ship attitude information for hydrographic applications. 相似文献
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采用水下超短基线定位系统和捷联惯导系统组合对水下潜器进行导航时,未知的声速误差会严重影响组合导航的精度。顾及超短基线定位系统的噪声水平、阵列上接收单元的误差特性以及和捷联惯导系统在导航性能的互补性,基于平面波近似原理,建立了SINS/USBL紧组合系统的状态方程和量测方程,并对未改正的声速误差在线估计,提出一种超短基线定位系统和捷联惯导系统紧组合算法。新算法可以将非高斯的未知声速误差进行建模后进行估计,有效提高了捷联惯导系统的误差估计性能。仿真实验结果表明,新算法能有效估计未知声速误差,滤波收敛后的精度明显优于松组合方案,具有很强的实用性。 相似文献
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GNSS船姿测量以其观测误差不随时间累积的特点得到了广泛研究和应用,本文基于三天线GNSS船姿测量方式,构建了波束脚印误差与姿态误差间的关系模型,设计仿真实验分析了基线长度对姿态误差的影响,以及不同水深环境下姿态误差与GNSS定位误差的关系。为突破传统RTK在测量距离上的限制,本文采用PPP、PPK、MBD (动态参考站差分)三种方法进行GNSS船姿计算,并通过海上实验与高精度惯性导航系统进行对比分析,结果表明使用MBD测姿结果要优于PPK和PPP模式,得到的航偏角、横摇角、纵摇角标准差均在0.1°左右,可满足通常情况下多波束测深对姿态精度的要求。 相似文献
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重力测量系统中测量的重力,即重力加速度,是一种特殊的加速度,因而重力传感器是一种特殊的加速度计。在动态场合,现代重力仪一般采用基于陀螺仪构建的各种平台为重力传感器提供姿态基准。因此采用加速度计和陀螺仪这些惯性元件的动态重力测量系统可以看做是惯性技术的一种具体应用。从惯性技术的角度对动态重力测量的理论和现状进行了分析。首先介绍了在地球表面附近进行重力测量时涉及的参考坐标系。然后详细推导了动态重力测量的基本理论,即比力测量理论,指出比力方程是动态重力测量和惯性导航的共同基础。最后对不同载体对动态重力测量系统的影响与要求进行了分析。 相似文献
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国防科学技术大学研制成功了我国首套具有自主知识产权的捷联式航空重力测量系统SGA-WZ01。该重力测量系统由捷联式惯性导航系统(SINS)和差分全球定位系统(DGPS)组成。2012年4~5月,在南海某海域进行了飞行试验以测试这一新型重力仪的精度。描述了该系统的构成和数据处理过程,在数据处理中应用了全球重力场模型对重力测量结果进行校正。试验结果表明,该系统不仅可用于重力标量测量,还可用于矢量测量。重复测线的数据表明了该系统测得的重力异常的重复性可达到1.5m Gal,经过全球重力场模型校正之后北向分量的重复性为7.46m Gal,东向分量的重复性为4.46m Gal。 相似文献
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ROV accurate path following is challenging due to system unmodeled dynamics, disturbances and navigation sensors error. The model uncertainty and disturbances are commonly treated using robust methods such as the sliding mode controller where by incorporating an integral action in the zero tracking error is also guaranteed. Practically, the ROV position data is often computed using low cost inertial measurement unit (IMU) with outputs contaminated with bias and noise. Failure of mission is an immediate consequence of employing such biased sensors. However, the problem can be circumvented using the concept of redundant measurements and data fusion. In this respect, a set of 12 measurements from IMU, magnetometer and Doppler velocity log (DVL) are employed where the last two are aided sensors. The set up is shown to be capable of providing ROV path following with zero (in average) steady state tracking error irrespective of its dynamic parameters, environmental disturbances and erroneous data; as if it enjoys the exact values of the position of the ROV. It means that the combined DVL and magnetometer are sufficient for filtering the IMU biased measurements. Various simulations conducted confirm the results. 相似文献
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Pan-Mook Lee Bong-Huan Jun Kihun Kim Jihong Lee Aoki T. Hyakudome T. 《Oceanic Engineering, IEEE Journal of》2007,32(2):327-345
This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system. 相似文献
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重力辅助惯性导航的匹配算法初探 总被引：1，自引：0，他引：1
对重力辅助惯性导航技术的基本原理进行了分析,将采样卡尔曼滤波算法用于重力图形匹配。滤波通过设计少量的Σ点,并计算这些Σ点的经由非线性函数的传播,从而获得滤波值基于非线性状态方程的更新,较广义卡尔曼滤波具有计算精度高、便于计算的特点。 相似文献
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多波束测深技术是目前水下地形测量的主要技术手段,测量平台的瞬时姿态及方位是影响多波束测深系统最终成果准确度的重要因素。GNSS方位辅助惯性导航系统,作为目前应用较为广泛的方位、姿态、及位置综合测量系统,不仅能够提供高精度位置信息,同时也能提供测量平台的瞬时姿态及方位数据,而且因为具有GNSS方位辅助测量,使得最终方位测量结果比传统方位测量精度大大提高,这对于多波束最终测量成果精度提高具有重要意义。文中从GNSS方位辅助惯性导航系统原理及技术优势出发,结合Trimble RTX后处理技术,从姿态测量、方位测量及辅助高程测量方面分析了在多波束水下地形测量中的应用,并以实际测量成果来展现其在水下地形精密测量技术方面的优势,结果显示,定位精度可以达到优于2 cm级别,方位精度可以优于0.01°(依赖于双GNSS天线之间的基线长度),该技术对水下地形测量准确度提升作用显著。 相似文献
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Yun X. Bachmann E.R. McGhee R.B. Whalen R.H. Roberts R.L. Knapp R.G. Healey A.J. Zyda M.J. 《Oceanic Engineering, IEEE Journal of》1999,24(3):396-404
A Small Autonomous Underwater Vehicle Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation system composed of low-cost and small-size components. It is designed to demonstrate the feasibility of using a low-cost strap-down inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The present hardware consists of a GPS/DGPS receiver, IMU, compass, water speed sensor, water depth sensor, and a data processing computer. The software is based on a 12-state complementary filter that combines measurement data from all sensors to derive a vehicle position/orientation estimate. This paper describes hardware and software design and testing results of the SANS. It is shown that results from tilt table testing and bench testing provide an effective means for tuning filter gains. Ground vehicle testing verifies the overall functioning of the SANS and exhibits an encouraging degree of accuracy 相似文献
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This paper presents the design and development of an enhanced inertial navigation system that is to be integrated into the Morpheus autonomous underwater vehicle at Florida Atlantic University. The inertial measurement unit is based on the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros and three-axis accelerometers and is aided with ground speed measurements obtained using an RDI Doppler-velocity-log sonar. An extended Kalman filter has been developed, which fuses together asynchronously the inertial and Doppler data, as well as the differential Global Positioning System positional fixes whenever they are available. A complementary filter was implemented to provide a much smoother and stable attitude estimate. Thus far, preliminary study has been made on characterizing the inertial navigation system-based navigation system performance, and the corresponding results and analyzes are provided 相似文献
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文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。 相似文献