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Journal of Southeast University(English Edition) 2005年第1期21卷 29-32页

作者：蔡体菁叶米里扬采夫东南大学仪器科学与工程系南京210096 圣彼得堡国立光机学院俄罗斯圣彼得堡197101

The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.

关键词： rate azimuth platform gravimeter inertial navigation system gravitypassive navigation system

Approach of Improving the inertial navigation system Error for Large Transport Aircraft

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系统仿真技术 2013年第2期9卷 135-140,152页

作者：武虎子耿建中 TANG Changhong LI Wei The First Aircraft Institute

The corresponding corrected method is proposed for the INS ( INS-inertial navigation system ) accumulated error of large transport aircraft. system errors contain aircraft position error, altitude error and speed error,one is increasing the accuracy of hardw are; the other is development of low cost softw are algorithms. Because of improving hardw are is more difficult in my country at present, developing softw are algorithms is essential w ay,w hich have been validated in my types of airplane. The combined heuristic algorithms ( ABPNN,Advanced Back-propagation neural netw orks algorithm and LSM -least square method) are presented,w hich incorporates the effects of flight region and measured terrain height data by radar and barometer. Based on this algorithm,the appropriate match region w as gotten by recognition of fiducial digital map in real time online. In process of w ork,the minimum of position error as a cost function and the constraint conditions are gave,the flight positions are recognized in real time and continuously,least sum of square is calculated based on LSM ,in other w ords,the optimized result is obtained. The simulation case demonstrate that the method is very successful,the correct rate of recognition is more 90 percent. In w ords,the algorithm presented is economical,validation and effective.

关键词： inertial navigation system accumulated error advanced back-propagation neural networks least square method

Ground Alignment of inertial navigation system with the Aid of GPS Signals

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Journal of Southeast University(English Edition) 1998年第2期14卷 81-85页

作者：冯绍军胡国辉袁信南京航空航天大学自动控制系

Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.

关键词： inertial navigation system alignment observability GPS carrier phase

Initial alignment of inertial navigation system based on a predictive iterated Kalman filter

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Initial alignment of Inertial Navigation System based on a p...

Clustering and Discrimination Analysis of Telemetric Pulse Numbers of inertial navigation system

第37届中国控制会议

作者： Guanghao CHENG Songyin CAO Lei GUO Wenhua CHEN Department of Automation College of Information EngineeringYangzhou University National Key Laboratory on Aircraft Control Technology School of Instrumentation Science and Opto-Electronics EngineeringBeihang University Department of Aeronautical and Automotive Engineering Loughborough University

inertial navigation systems（INSs） are widely used in practical applications. This paper considers the problem of initial alignment for an inertial navigation system. As the modeling error of an INS is difficult to be measured accurately, it will decrease the accuracy of the initial alignment. In this paper, a predictive iterated Kalman filter（PIKF） is proposed for a class of INSs with the modeling error and Gaussian noise. Firstly, the modeling error is estimated by a predictive filter. Then, in order to reduce the error between the one step prediction of Kalman filter and the true value, a new filtering method combining a predictive filter with an iterative Kalman filter is used to improve the alignment accuracy. Finally, simulations for the stationary alignment of an INS are given to show the efficiency of the proposed approach.

关键词： inertial navigation system Initial alignment Predictive filter Kalman filter Iterative filter

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Clustering and Discrimination Analysis of Telemetric Pulse N...

Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect

第30届中国控制与决策会议

作者： Jinhua Fan Taiyuan Satellite Launch Center

In order to automate the process of tackling the telemetric pulse numbers generated from an inertial navigation system, the classification issue of telemetric pulse numbers is studied. Firstly, examples for classification are extracted from the telemetric pulse number file, according to its inherent characteristics. Secondly, the clustering analysis is applied to verify that the outlier examples can be separated from the overflow examples. Finally, the discrimination analysis is conducted by the linear discrimination function and Bayesian approach respectively. Based on the data of a flight test, the analysis results indicates that better clustering results can be obtained when the cosine distance approach is adopted to measure the examples distance, and with the same training set and test set, better discrimination results are obtained by the Bayesian approach than by the linear discrimination function.

关键词： Clustering Analysis Discrimination Analysis Telemetric Pulse Numbers inertial navigation system

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Journal of Central South University 2015年第2期22卷 575-583页

作者：常国宾柳明 Tianjin Institute of Hydrographic Surveying and Charting Department of navigation Engineering Naval University of Engineering Key Laboratory of Aviation Information Technology in Universities of Shandong Binzhou University

In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.

关键词： inertial navigation system global positioning system(GPS) integrated system lever arm effect Kalman filter unscented Kalman filter

Cubature Kalman filter with closed-loop covariance feedback control for integrated INS/GNSS navigation

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Chinese Journal of Aeronautics 2023年第5期36卷 363-376页

作者： Bingbing GAO Gaoge HU Lei ZHANG Yongmin ZHONG Xinhe ZHU Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518057China School of Automation Northwestern Polytechnical UniversityXi’an 710072China Aviation Industry Corporation of China(AVIC) Xi’an Aeronautic Computing Technique Research Institute(ACTRI)Xi’an 710068China School of Engineering RMIT UniversityBundooraVIC 3083Australia

Cubature Kalman Filter(CKF)offers a promising solution to handle the data fusion of integrated nonlinear INS/GNSS(inertial navigation system/Global navigation Satellite system)***,its accuracy is degraded by inaccurate kinematic noise statistics which originate from disturbances of system *** paper develops a method of closed-loop feedback covariance control to address the above problem of *** this method,the posterior state and its covariance are fed back to the filtering process to constitute a closed-loop structure for CKF covariance ***,based on the maximum likelihood principle,a control scheme of the prior state covariance is established by using the feedback state and covariance within an estimation window and further adopting a proportional coefficient to amplify the feedback terms in recent time steps for the full use of new information to reflect actual system *** it does not directly use kinematic noise covariance,the proposed method can effectively avoid the adverse impact of inaccurate kinematic noise statistics on filtering ***,it can also guarantee the prior state covariance to be positive semi-definite without involving extra *** efficacy of the proposed method is validated by simulations and experiments for integrated INS/GNSS navigation.

关键词： Covariance control inertial navigation system Kalman filter Maximum likelihood Proportional coefficient

Transfer alignment of shipborne inertial-guided weapon systems

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Journal of systems Engineering and Electronics 2009年第2期20卷 348-353页

作者： Sun Changyue Deng Zhenglong Dept.of Control Science and Engineering Harbin Inst. of TechnologyHarbin 150001 P. R. China School of Information and Electrical Engineering Hunan Univ. of Science and TechnologyXiangtan 435001 P. R. China

The transfer alignment problem of the shipborne weapon inertial navigation system （INS） is addressed. Specifically, two transfer alignment algorithms subjected to the ship motions induced by the waves are discussed. To consider the limited maneuver level performed by the ship, a new filter algorithm for transfer alignment methods using velocity and angular rate matching is first derived. And then an improved method using integrated velocity and integrated angular rate matching is introduced to reduce the effect of the ship body flexure. The simulation results show the feasibility and validity of the proposed transfer alignment algorithms.

关键词： transfer alignment inertial navigation system Kalman filtering ship flexure

Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion

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Chinese Journal of Aeronautics 2013年第2期26卷 442-448页

作者： Wang Zhenhuan Chen Xijun Zeng Qingshuang Space Control and inertial Technology Research Center Harbin Institute of Technology

For the navigation algorithm of the strapdown inertial navigation system, by comparing to the equations of the dual quaternion and quaternion, the superiority of the attitude algorithm based on dual quaternion over the ones based on rotation vector in accuracy is analyzed in the case of the rotation of navigation frame. By comparing the update algorithm of the gravitational velocity in dual quaternion solution with the compensation algorithm of the harmful acceleration in traditional velocity solution, the accuracy advantage of the gravitational velocity based on dual quaternion is addressed. In view of the idea of the attitude and velocity algorithm based on dual quaternion, an improved navigation algorithm is proposed, which is as much as the rotation vector algorithm in computational complexity. According to this method, the attitude quaternion does not require compensating as the navigation frame rotates. In order to verify the correctness of the theoretical analysis, simulations are carried out utilizing the software, and the simulation results show that the accuracy of the improved algorithm is approximately equal to the dual quaternion algorithm.

关键词： Dual quaternion inertial navigation system navigation algorithm Quaternion Rotation vector