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A Generic Plug-and-Play Navigation Fusion Strategy for Land Vehicles in GNSS-Denied Environment

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第2期36卷 197-204页

作者： lai jizhou BAI Shiyu XU Xiaowei Lü Pin Key Laboratory of Navigation Control and Health-Management Technologies of Advanced AerocraftMinistry of Industry and Information TechnologyCollege of Automation EngineeringNanjing University of Aeronautics and Astronautics

Achieving accurate navigation information by integrating multiple sensors is key to the safe operation of land vehicles in global navigation satellite system(GNSS)-denied ***,current multi-sensor fusion methods are based on stovepipe architecture,which is optimized with custom fusion strategy for specific *** to develop adaptable navigation that allows rapid integration of any combination of sensors to obtain robust and high-precision navigation solutions in GNSS-denied environment,we propose a generic plug-and-play fusion strategy to estimate land vehicle *** proposed strategy can handle different sensors in a plug-and-play manner as sensors are abstracted and represented by generic models,which allows rapid reconfiguration whenever a sensor signal is additional or lost during *** estimations are fused with absolute sensors based on improved factor graph,which includes sensors’error parameters in the non-linear optimization process to conduct sensor online *** evaluate the performance of our approach using a land vehicle equipped with a global positioning system(GPS)receiver as well as inertial measurement unit(IMU),camera,wireless sensor and *** is not integrated into the system but treated as ground *** are compared with the most common filtering-based fusion *** shows that our strategy can process low-quality input sources in a plug-and-play and robust manner and its performance outperforms filtering-based method in GNSS-denied environment.

关键词： GNSS-denied multi-sensor fusion plug-and-play factor graph land vehicles

Inner Attitude Integration Algorithm Based on Fault Detection for Strapdown Inertial Attitude and Heading Reference System

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Chinese Journal of Aeronautics 2010年第1期23卷 68-74页

作者： Liu Jianye,Zhu Yanhua,lai jizhou,Yu Yongjun Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China Navigation Research Center Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

This article proposes a new inner attitude integration algorithm to improve attitude accuracy of the strapdown inertial attitude and heading reference system （SIAHRS） , which, by means of a Kalman filter, integrates the calculated attitude from the accelerometers in inertial measuring unit （IMU） , called damping attitudes, with those from the conventional IMU. As vehicle＇ s acceleration could produce damping attitude errors, the horizontal outputs from accelerometers are firstly used to judge the vehicle＇ s motion so as to determine whether the damping attitudes could be reasonably applied. This article also analyzes the limitation of this approach. Furthermore, it suggests a residual chi-square test to judge the validity of damping attitude measurement in real time, and accordingly puts forward proper information fusion strategy. Finally,the effectiveness of the proposed algorithm is proved through the experiments on a real system in dynamic and static states.

关键词： navigation strapdown inertial attitude and heading reference system inner attitude integration algorithm internal damping Kalman filter residual chi-square test

A Cooperative Localization Method for Leader–Follower Multiple UAVs Using Continuous Relative Ranging Information

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Guidance, Navigation and Control 2023年第2期3卷 112-135页

作者： Xudong Zhu jizhou lai Benchuan Zhou Pin Lv Sheng Chen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R.China China Air-to-Air Missile Research Institute Luoyang 471099 P.R.China

Cooperative localization(CL)utilizing multiple unmanned aerial vehides(UAVs)has become the current development trend and research *** tnditional distance-based CL *** uses principle of the spherical intersection to achieve UAV high-precision ***,this distance based CL strategy requires several leader UAVs at the known ***,a cooperative localization method for leader-follower multiple UA Vs using continuous relative ranging information is proposed in this *** at the UAV formation consists of a leader UAV node with the known position and at least a follower UAV that needs to be *** the Inertial short-time high-precision relative position constraint and the con-tinuous relative distance constraints with the leader UAV nodes,the closed-form solution of follower UAV's three-dimensional position can be obtained using spherical intersection *** this basis,we derive and construct follower UAV's position observation ***:developed strategy requires a single known position leader UAV node to realize high-precision CL,which can efctively solve the taditional distance-based collaborative location problem in case the number of leader UAVs is *** simulation and experimental results demonstrate that the proposed method significantly improves follower UAV's positioning accuracy,and neglects the limitation of the traditional distance-based CL method on the number of leader UAV nodes at known positions.

关键词： Multiple UAVs spherical intersection relative position relative distance coopera-tive localization

一种改进的车载组合导航零速检测及运动约束方法

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中国惯性技术学报 2024年第10期32卷 1001-1009,1017页

作者：张且且郭静茹赖际舟南京航空航天大学自动化学院南京211106

零速修正在抑制车载惯性导航系统误差发散方面具有重要作用,普适准确的零速检测方法是实现零速修正的关键。针对传统零速检测方法在复杂环境下易受扰动、检测准确率低的问题,提出了一种改进的车载组合导航零速检测及运动约束方法。首先... 详细信息

零速修正在抑制车载惯性导航系统误差发散方面具有重要作用,普适准确的零速检测方法是实现零速修正的关键。针对传统零速检测方法在复杂环境下易受扰动、检测准确率低的问题,提出了一种改进的车载组合导航零速检测及运动约束方法。首先,归纳总结了基于速度和惯性测量装置数据的几种典型的零速检验方法,并分析了各种方法的优缺点;其次,设计了融合陀螺仪模值检验统计量和水平速度检验统计量的零速检测方案;最后,对所提方法进行了实验验证。实验结果表明,城市环境下所提方法的检测准确率为99.222%,漏检率为0.628%,误检率为1.366%。相较于基于速度的零速检测方法,准确率提高了8.000%,漏检率和误检率分别降低了8.793%和4.901%,速度精度平均提升了32.49%,姿态精度平均提升了28.69%。

关键词：车载 GNSS/INS组合导航零速检测零速修正

用于干涉型光纤陀螺温度漂移辨识的RBF神经网络改进算法

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东南大学学报（自然科学版） 2006年第4期36卷 537-541页

作者：赖际舟刘建业盛守照南京航空航天大学自动化学院南京210016

针对干涉型光纤陀螺(IFOG)温度漂移的辨识,推导了径向基神经网络(RBFNN)中隐含层神经元、网络的抗噪声性能和拟合精度三者之间的关系,并在此基础上提出了一种新的径向基函数神经网络辨识学习规则.该方法具有很强的抗噪声性能,网络输出... 详细信息

针对干涉型光纤陀螺(IFOG)温度漂移的辨识,推导了径向基神经网络(RBFNN)中隐含层神经元、网络的抗噪声性能和拟合精度三者之间的关系,并在此基础上提出了一种新的径向基函数神经网络辨识学习规则.该方法具有很强的抗噪声性能,网络输出不会被陀螺噪声所污染,同时能动态地确定神经元数,辨识精度高,有效地避免了传统RBF网络学习算法中事先固定网络结构可能存在的盲目性.实验结果表明,该方法能够快速、准确地辨识IFOG的温度漂移.

关键词：干涉型光纤陀螺温度漂移 RBF神经网络辨识

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旋转惯导系统中的圆锥误差分析及其补偿

南京航空航天大学学报 2012年第2期44卷 159-164页

作者：赖际舟吕品张玲刘建业南京航空航天大学自动化学院南京210016

圆锥误差是由转动不可交换性误差引起的,存在于惯导系统导航解算的一种误差形式。由于基于旋转调制方式的惯导系统运动模式与传统捷联惯导系统不同,因此圆锥误差的表现形式也会发生相应变化。首先建立了旋转调制惯导系统的圆锥运动模型... 详细信息

圆锥误差是由转动不可交换性误差引起的,存在于惯导系统导航解算的一种误差形式。由于基于旋转调制方式的惯导系统运动模式与传统捷联惯导系统不同,因此圆锥误差的表现形式也会发生相应变化。首先建立了旋转调制惯导系统的圆锥运动模型,对其不可交换性误差进行了推导。在此基础上分析了基于等效旋转矢量的多子样算法在旋转惯导系统圆锥误差补偿中的应用效果以及旋转方案对圆锥误差补偿的影响,最终通过仿真对理论分析进行了验证。仿真结果表明,圆锥误差对于旋转惯导系统的影响要大于传统惯导系统,但可以通过改变旋转方式来对圆锥误差进行抑制。

关键词：惯性导航旋转惯导系统转动不可交换性误差多子样算法圆锥误差补偿

Calibration Method for LiDAR Cameras in Natural Dynamic Environments

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Calibration Method for LiDAR Cameras in Natural Dynamic Envi...

基于安装方式激励的捷联惯导在线标定算法研究及仿真分析

第十四届中国卫星导航年会

作者： Sheng Hong Qinghua Zeng Yineng Li Xiaorong Sun jizhou lai College of Automation Engineering Nanjing University of Aeronautics & Astronautics

The external calibration of sensors has a crucial impact on the accuracy of subsequent integrated navigation. In this paper, an automatic calibration method for a lidar/RGB camera system is proposed under dynamic environmental disturbances without any target present. The theoretical analysis focuses on the characteristics and limitations of edge features, as well as their influence on calibration accuracy. In terms of implementation, the measurement principles of the lidar and camera are analyzed. A projection-based method for dynamic point rejection of the lidar is proposed, and the external calibration of the sensor is achieved using a Bundle Adjustment optimization method based on the edge extraction results of point clouds and images. Since edge features are abundant in natural scenes, the proposed method is evaluated in an indoor scene with dynamic environmental disturbances. The results demonstrate that the proposed method has higher robustness and accuracy than conventional algorithms, achieving good calibration results in the presence of dynamic environmental disturbances.

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仪器仪表学报 2008年第12期29卷 2515-2520页

作者：刘建业华冰赖际舟王松南京航空航天大学自动化学院导航研究中心南京210016

研究了惯性测量单元(IMU)机载安装方式对捷联惯导在线标定的影响。首先针对动力调谐捷联惯导系统的误差进行了建模和参数估计分析。以激励误差输出为目的,通过改变IMU在试验飞行器的安装位置,从理论算法角度分析了角度偏移和位置偏移两... 详细信息

研究了惯性测量单元(IMU)机载安装方式对捷联惯导在线标定的影响。首先针对动力调谐捷联惯导系统的误差进行了建模和参数估计分析。以激励误差输出为目的,通过改变IMU在试验飞行器的安装位置,从理论算法角度分析了角度偏移和位置偏移两种安装方式对IMU输出的影响,提出基于安装方式激励的捷联惯导在线标定算法,并进行了标定后的补偿效果验证。仿真表明,该算法能有效标定出动态情况下的惯导误差参数,IMU安装方式对惯导的空中在线误差标定起到了很好的激励作用,在同等航迹要求下大大提高了标定精度。

关键词：捷联惯导系统误差标定在线标定 IMU安装方式动力调谐陀螺(DTG)

多光线追踪与高度特征约束的激光雷达动态点云检测方法

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中国惯性技术学报 2024年第10期32卷 1010-1017页

作者：吕品过佳珺赖际舟方玮南京航空航天大学自动化学院导航研究中心南京211106

基于激光雷达同时定位与构图方法生成的导航地图通常含有动态点,为保障点云匹配精度及路径规划等任务的正常执行,检测并移除导航地图中的动态点云至关重要。光线追踪算法是一种常用的动态检测方法,然而传统光线追踪算法存在因光线误穿... 详细信息

基于激光雷达同时定位与构图方法生成的导航地图通常含有动态点,为保障点云匹配精度及路径规划等任务的正常执行,检测并移除导航地图中的动态点云至关重要。光线追踪算法是一种常用的动态检测方法,然而传统光线追踪算法存在因光线误穿越占据体素导致的体素状态误判问题。针对上述问题,提出了一种多光线追踪与高度特征约束的激光雷达动态点云检测方法。利用邻近射线辅助体素状态的判定,减少假阳性情况;基于高度特征约束方法解决了地面点自干扰问题。室内外数据集上的实验结果表明,所提方法在不同场景下的动态检测性能优于OctoMap方法、Removert方法和ERASOR方法,其中静态保留率高于80%,动态剔除率高于97%。

关键词：动态检测激光SLAM 多光线追踪地面分割高度特征