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An algorithm for terrain-aided inertial navigation based on nonlinear optimal filtering

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Science China(Physics,Mechanics & Astronomy) 2011年第6期54卷 1083-1088页

作者： ZHAO Long Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China

When the initial position error or the altimeter measurement noise is large,the BUAA inertial Terrain-Aided navigation (BITAN) algorithm based on extended Kalman filtering can not be located *** solve this problem,we propose a modified BITAN algorithm based on nonlinear optimal *** posterior probability density correction is obtained by using the prior probability density of the system's state transition model and the most recent ***,the local unobservable system caused by the measurement equation through terrain linearization is *** algorithm is tested by using the digital elevation model and flight data,and is compared with *** show that the accuracy of the proposed algorithm is higher than BITAN,and the robustness of the system is improved.

关键词： navigation inertial navigation terrain-aided navigation robust adaptive filtering

On inertial navigation and attitude initialization in polar areas

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Satellite navigation 2020年第1期1卷 40-45页

作者： Yuanxin Wu Chao He Gang Liu Shanghai Key Laboratory of navigation and Location-based Services School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Flight Automatic Control Research Institute Xi’an 710065China

inertial navigation and attitude initialization in polar areas become a hot topic in recent years in the navigation community,as the widely-used navigation mechanization of the local level frame encounters the inherent singularity when the latitude approaches 90°.Great endeavors have been devoted to devising novel navigation mechanizations such as the grid or transversal *** paper highlights the fact that the common Earth-frame mechanization is sufficiently good to handle the singularity problem in polar *** results are reported to demonstrate the singularity problem and the effectiveness of the Earth-frame mechanization.

关键词： inertial navigation Mechanization Polar areas Attitude initialization

A Combined Alignment Method for Strapdown inertial navigation System on Stationary Base

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Journal of Harbin Institute of Technology(New Series) 2020年第6期27卷 57-71页

作者： Shuai Chen Xinzhi Liu Qian Sun Ya Zhang School of Information and Control Engineering Liaoning Shihua UniversityFushun 113001LiaoningChina Department of Applied Mathematics University of WaterlooWaterloo N2L3G1Canada College of Information and Communication Engineering Harbin Engineering UniversityHarbin 150001China School of Electrical Engineering&Automation Harbin Institute of TechnologyHarbin 150001China

Owing to the weak observability of the azimuth misalignment angle,alignment accuracy and time are always the contradictory issues in the initial alignment process of Strapdown inertial navigation System(SINS),which requires a compromise between *** this paper,a combined alignment mechanism is proposed to construct an observable and controllable system model,which can effectively achieve higher azimuth alignment accuracy during the fixed time ***,the Reduced Order Kalman Filter(ROKF)alignment algorithm was utilized to calculate the misalignment angles in parallel with the classical gyrocompass alignment ***,the misalignment angles calculated by the gyrocompass alignment method were used to formulate the augmented measurement model with zero velocity ***,the zero velocity model of the ROKF method was switched into the augmented measurement model when the azimuth misalignment angle of the gyrocompass alignment method was close to steady *** combined alignment method was analyzed reasonably by the observability and the mathematical *** comparison results of the numerical simulation and the experimental data test showed that the combined method had good performance in terms of estimation accuracy and consistency of the alignment results.

关键词： inertial navigation instrumentation and measurement gyroscopes accelerometers Kalman filter measurement errors

Application of H_∞ filtering in the initial alignment of strapdown inertial navigation system

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Journal of Marine Science and Application 2005年第1期4卷 50-53页

作者： YUFei SUNFeng SchoolofAutomation HarbinEngineeringUniversityHarbin150001China

In this paper , the principle of H∞ filtering is discussed and H_∞ filter is constructed, which is used in the initial alignment of the strapdown inertial navigation systems(SINS). The error model of SINS is derived. By utilizing constructed H∞ filter, the filtering calculation to that system has been conducted. The simulation results of the misalignment angle are given under the condition of unknown noises. The results show that the process of alignment with H∞ filter is much faster and with excellent robustness.

关键词： H_∞ filtering initial alignment inertial navigation

Research on the positioning method of In-pipe detector based on strapdown inertial navigation and global optimization algorithm

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Research on the positioning method of In-pipe detector based...

Pedestrian Autonomous Positioning System Based on inertial navigation

第43届中国控制会议

作者： Yixin Yao Hong Zhang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology

To avoid the jamming risk,positioning error,and application limitation caused by In-pipe detector odometers,this paper introduces a global optimization algorithm to estimate the speed information,which can be an alternative to *** the paper,a small In-pipe detector positioning system that incorporates MEMS IMU,motion state recognition,and global optimization algorithm is *** this system,a machine learning algorithm identifies the motion state of the In-pipe *** global optimization algorithm obtains the optimal estimates of velocity and attitude angle for each segment of the *** extended Kalman filter fuses the estimates with the inertial navigation solving ***,the target point is accurately *** simulation experiments show that the positioning accuracy of the system without odometry reaches1.3%,and the positioning accuracy is improved by 73.73% when it is used for the integrated navigation of inertial navigation plus *** system provides a new method of obtaining velocity information,which can effectively improve positioning accuracy.

关键词： In-pipe detector inertial navigation positioning system global optimization algorithm

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Pedestrian Autonomous Positioning System Based on Inertial N...

A Visual/inertial Relative navigation Method for UAV Formation

第十一届中国卫星导航年会

作者： Bowen Xing Haonan Jia Pengfei Liu Guoju Ma Xiaonan Li The 54th Research Institute of CETC State Key Laboratory of Satellite Navigation System and Equipment Technology

Under the background of mobile Internet era, the application requirements of indoor positioning technology is increasingly urgent,and accurate positioning information has become an important prerequis

关键词： inertial navigation autonomous positioning algorithm design hardware design

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A Visual/Inertial Relative Navigation Method for UAV Formati...

Homologous fault monitoring technology of redundant INS in airborne avionics systems

第32届中国控制与决策会议

作者： Wei Shao Lingfei Dou Hanxue Zhao Boning Wang Hongliang Xi Wenlong Yao College of Automation and Electronic Engineering Qingdao University of Science and Technology

Nowadays,the task of determining positions for Unmanned Aerial Vehicles（UAVs） has been mainly handled by combining inertial navigation System（INS） with Global Positioning System（GPS）.This paper presents a visual/inertial relative navigation method for UAV formation to overcome the disadvantages of GPS such as disturbed ***,INS and visual navigation system are respectively ***,the state and observation equations of the visual/inertial navigation system are *** Muti-rate Kalman Filter（MKF） is designed to estimate the position ***,the performance of this method is analyzed via a simulation.

关键词： UAV Formation Relative navigation Visual navigation inertial navigation Muti-rate Kalman Filter

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Journal of Systems Engineering and Electronics 2013年第6期24卷 1038-1044页

作者： Xiuzhi Wu Jizhou Lai Min Liu Pin Lv College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Redundant technology plays an important role in improving the reliability and fault-tolerance of the airborne avionics systems. A Markov state transition model is introduced to the reliability analysis of the redundant inertial navigation system （RINS） in airborne navigation systems. An information processing mechanism based on difference filtering is put forward to strengthen the consistency between the outputs of the equal-precision inertial navigation system （INS）. On this basis, the homologous fault monitoring algorithm is designed to realize the homologous fault monitoring of RINS. The simulation is carried out based on the above algorithms, and the results verify the effectiveness of the proposed fault monitoring algorithm based on difference filtering. Research results have good reference value for the configuration and design of RINS in airborne integrated avionics systems.

关键词： inertial navigation redundant configuration difference filtering homologous fault monitoring

Drag derived altitude aided navigation method

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Chinese Journal of Aeronautics 2017年第5期30卷 1750-1764页

作者： Hua SONG Meiling WANG Jing YANG Dantong SUN Longtao KONG Chunling WEI School of Automation Science and Electrical Engineering Beihang University Beijing 100083 China Collaborative Innovation Center of Advanced Aero-Engine Beihang University Beijing 100083 China National Key Laboratory of Space Intelligent Control Technology Beijing 100094 China

The navigation problem of the lifting reentry vehicles has attracted much research interest in the past decade. This paper researches the navigation in the blackout zone during the reentry phase of the aircraft, when the communication signals are attenuated and even interrupted by the blackout zone. However, when calculating altitude, a pure classic inertial navigation algorithm appears imprecise and divergent. In order to obtain a more precise aircraft altitude, this paper applies an integrated navigation method based on inertial navigation algorithms, which uses drag derived altitude to aid the inertial navigation during the blackout zone. This method can overcome the shortcomings of the inertial navigation system and improve the navigation accuracy. To further improve the navigation accuracy, the applicable condition and the main error factors, such as the atmospheric coefficient error and drag coefficient error are analyzed in detail. Then the damping circuit design of the navigation control system and the damping coefficients determination is introduced. The feasibility of the method is verified by the typical reentry trajectory simulation, and the influence of the iterative times on the accuracy is analyzed. Simulation results show that iterative three times achieves the best effect.

关键词： Aided navigation system Blackout zone Drag derived altitude inertial navigation Integrated navigation Reentry vehicles