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SINS/CNS/GPS integrated navigation algorithm based on UKF

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Journal of Systems Engineering and Electronics 2010年第1期21卷 102-109页

作者： Haidong Hu xianlin huang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 E R. China

A new nonlinear algorithm is proposed for strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter （UKF） to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle＇s attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm.

关键词： navigation system integrated navigation unscented Kalman filter federated Kalman filter strapdown inertial navigation system celestial navigation system global psitioning system.

Design and application of single-antenna GPS/accelerometers attitude determination system

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Journal of Systems Engineering and Electronics 2008年第2期19卷 220-227页

作者： He Jie huang xianlin Wang Guofeng Center for Control Theory and Guidance Technique Harbin Inst. of Technology Harbin 150001 P. R. China The Third Research Academy China Aerospace Science &~ Industry Corporation Beijing 100072 P. R. China

In view of the problem that the current single-antenna GPS attitude determination system can only determine the body attitude when the sideslip angle is zero and the multiantenna GPS/SINS integrated navigation system is of large volume, high cost, and complex structure, this approach is presented to determine the attitude based on vector space with single-antenna GPS and accelerometers in the micro inertial measurement unit （MIMU）. It can provide real-time and accurate attitude information. Subsequently, the single-antenna GPS/SINS integrated navigation system is designed based on the combination of position, velocity, and attitude. Finally the semi- physical simulations of single-antenna GPS attitude determination system and single-antenna GPS/SINS integrated navigation system are carried out. The simulation results, based on measured data, show that the single-antenna GPS/SINS system can provide more accurate navigation information compared to the GPS/SINS system, based on the combination of position and velocity. Furthermore, the single-antenna GPS/SINS system is characteristic of lower cost and simpler structure. It provides the basis for the application of a single-antenna GPS/SINS integrated navigation system in a micro aerial vehicle （MAV）.

关键词： single-antenna GPS attitude determination vector space accelerometer integrated navigation MAV.

Study on Federated Architecture for GPS/INS/TRN Integrated Navigation System

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Journal of Systems Engineering and Electronics 2000年第1期11卷 75-80页

作者： Wang, Yufei huang, xianlin Hu, Hengzhang Harbin Inst of Technology Harbin China

Based on the information fusion theory, a kind of integrated navigation system integration for cruise missile is presented in this paper. Besides, the way with which the system is integrated and the related data fusion technique are discussed. Information-fusion-based hybrid navigation system integration can fully utilize information provided by all kinds of navigation sensor subsystem and can improve the precision of the system effectively. Simultaneously, the reconstructing ability ensures the system of great reliability.

关键词： Control system synthesis Electronic guidance systems Fault tolerant computer systems Global positioning system Sensor data fusion

An LMI-based decoupling control for electromagnetic formation flight

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Chinese Journal of Aeronautics 2015年第2期28卷 508-517页

作者： huang xianlin Zhang Chun Lu Hongqian Yin Hang Center for Control Theory and Guidance Technology Harbin Institute of Technology

Electromagnetic formation flight （EMFF） leverages electromagnetic force to control the relative position of satellites. EMFF offers a promising alternative to traditional propellant-based spacecraft flight formation. This novel strategy is very attractive since it does not consume fuel. Due to the highly coupled nonlinearity of electromagnetic force, it is difficult to individually design a controller for one satellite without considering others, which poses challenges to communications. This paper is devoted to decoupling control of EMFF, including regulations, constraints and con- troller design. A learning-based adaptive sliding mode decoupling controller is analyzed to illustrate the problem of existing results, and input rate saturation is introduced to guarantee the validity of frequency division technique. Through transformation, the imposed input rate saturation is con- verted to state and input constraints. A linear matrix inequalities （LMI）-based robust optimal con- trol method can then be used and improved to solve the transformed problem. Simulation results are presented to demonstrate the effectiveness of the proposed decoupling control.

关键词： Decoupling control Electromagnetic forces Electromagnetic formationflight Linear matrix inequalities Satellite control

On parametric approach of aerial robots' visual navigation

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Journal of Systems Engineering and Electronics 2008年第5期19卷 1010-1016页

作者： Zhou Yu huang xianlin Jie Ming Yin Hang Harbin Inst. of Technology Harbin 150001 P. R. China

In aerial robots＇ visual navigation, it is essential yet very difficult to detect the attitude and position of the robots operated in real time. By introducing a new parametric model, the problem can be reduced from almost unmanageable to be partly solved, though not fully, as per the requirement. In this parametric approach, a multi-scale least square method is formulated first. By propagating as well as improving the parameters down from layer to layer of the image pyramid, a new global feature line can then be detected to parameterize the attitude of the robots. Furthermore, this approach paves the way for segmenting the image into distinct parts, which can be realized by deploying a Bayesian classifier on the picture cell level. Comparison with the Hough transform based method in terms of robustness and precision shows that this multi-scale least square algorithm is considerably more robust to noises. Some discussions are also given.

关键词： parametric model aerial robots visual navigation multi-scale least square.

Three-dimensional time-varying sliding mode guidance law against maneuvering targets with terminal angle constraint

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Chinese Journal of Aeronautics 2022年第4期35卷 303-319页

作者： Xinxin WANG Hongqian LU xianlin huang Yefeng YANG Zongyu ZUO Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China The Seventh Research Division Beihang UniversityBeijing 100191China

This paper deals with the problem of intercepting maneuvering targets with terminal angle constraints for missiles subjected to three-dimensional non-decoupling engagement *** achieve the finite-time interception and satisfactory overload characteristics, a time varying sliding mode control methodology is developed based on a time base generator function. The main feature of the proposed guidance law guarantees the Line-of-Sight(LOS) angles to converge to small neighborhoods of the desired values at the interception time. First, a fractional power extended state observer is used to estimate the unknown target acceleration, which can significantly reduce the adaptive switching gain. The fractional power extended state observer enjoys the advantage of better noise tolerance. Then, a newly designed sliding mode surface is constructed by introducing a time base generator function and the time-varying sliding mode guidance law is developed based on this time-varying sliding surface. The proposed guidance law significantly reduces the overload magnitudes. Numerical simulations are carried out to verify the performance of the proposed guidance law.

关键词： Guidance law Maneuvering target Terminal angle constraint Three-dimensional Time-varying sliding mode

Analysis of one dimensional and two dimensional fuzzy controllers

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Journal of Systems Engineering and Electronics 2006年第2期17卷 362-373页

作者： Ban Xiaojun Gao Xiaozhi huang xianlin Wu Tianbao Dept. of Control Theory and Engineering Harbin Inst. of Technology Harbin 150001 P. R. China Inst. of Intelligent Power Electronics Helsinki Univ. of Technology Espoo Finland

The analytical structures and the corresponding mathematical properties of the one dimensional and two dimensional fuzzy controllers are first investigated in detail. The nature of these two kinds of fuzzy controllers is next probed from the perspective of control engineering. For the one dimensional fuzzy controller, it is concluded that this controller is a combination of a saturation element and a nonlinear proportional controller, and the system that employs the one dimensional fuzzy controller is the combination of an open-loop control system and a closedloop control system. For the latter case, it is concluded that it is a hybrid controller, which comprises the saturation part, zero-output part, nonlinear derivative part, nonlinear proportional part, as well as nonlinear proportional-derivative part, and the two dimensional fuzzy controller-based control system is a loop-varying system with varying number of control loops.

关键词： one dimensional fuzzy controller two dimensional fuzzy controller analytical structures fuzzy inference control system analysis.

Stability analysis of the simplest Takagi-Sugeno fuzzy control system using circle criterion

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Journal of Systems Engineering and Electronics 2007年第2期18卷 311-319页

作者： Lu Hongqian huang xianlin Gao X. Z. Ban Xiaojun Yin Hang Dept. of Control Theory and Engineering Harbin Inst. of Technology Harbin 150001 P. R. China Inst. of Intelligent Power Electronics Helsinki Univ. of Technology Espoo Finland

A frequency-domain-based sufficient condition is derived to guarantee the globally asymptotic stability of the simplest Takagi-Sugeno （T-S） fuzzy control system by using the circle criterion. The analysis is performed in the frequency domain, and hence the condition is of great significance when the frequency-response method, which is widely used in the linear control theory and practice, is employed to synthesize the simplest T-S fuzzy controller. Besides, this sufficient condition is featured by a graphical interpretation, which makes the condition straightforward to be used. Comparisons are drawn between the performance of the simplest T-S fuzzy controller and that of the linear compensator. Two numerical examples are presented to demonstrate how this sufficient condition can be applied to both stable and unstable plants.

关键词： T-S fuzzy controller, Stability analysis Circle criterion Frequency response method.

Drag Tracking Sliding Mode Control For Mars Atmospheric Reentry

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Drag Tracking Sliding Mode Control For Mars Atmospheric Reen...