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Adaptive Filtering Design for in-motion alignment of INS 26th

Adaptive Filtering Design for In-Motion Alignment of INS

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第26届中国控制与决策会议

作者： Tong Liu Qian Xu Yuejun Li School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479937097

Misalignment angles estimation of strapdown inertial navigation system（INS） using global positioning system（GPS） data is highly affected by measurement noises, especially with noises displaying time varying statistical properties. Hence,adaptive filtering approach is recommended for the purpose of improving the accuracy of in-motion alignment. In this paper,a simplified form of Celso’s adaptive stochastic filtering is derived and applied to estimate both the INS error states and measurement noise statistics. To detect and bound the influence of outliers in INS/GPS integration, outlier detection based on jerk tracking model is also proposed. The accuracy and validity of the proposed algorithm is tested through ground based navigation experiments.

关键词： INS/GPS integration in-motion alignment adaptive filtering outlier detection.

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An Unscented Kalman Filter for in-motion alignment of Shipborne SINS under Large Heading Misalignment Angle

An Unscented Kalman Filter for In-motion Alignment of Shipbo...

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ICEMI'2005第七届国际电子测量与仪器学术会议

作者： Gu Dongqing1 Qin Yongyuan1 Deng Lei2 ( 1. Department of Automatic Control Northwestern Polytechnical University Xi’an 710072 China) (2. Business Languages School Shanghai Institute of Foreign Trade Shanghai 200336 China )

This paper presents the in-motion alignment of shipborne strapdown inertial navigation system (SINS) using an unscented kalman filter (UKF). The attitude, velocity and position error models of SINS un

关键词： Strapdown inertial navigation system (SINS) in-motion alignment large heading misalignment angle unscented Kalman filter (UKF).

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Automatic Calibration and in-motion alignment of an Odometer-aided INS

Automatic Calibration and In-Motion Alignment of an Odometer...

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第三十一届中国控制会议

作者： WANG Qingzhe FU Mengyin XIAO Xuan DENG Zhihong School of Automation Beijing Institute of Technology Beijing 100081 P.R.China

＜正＞in-motion alignment problem has been regarded as a challenging problem for years in the extensive study on inertial navigation systems（INS’s）.In this contribution,the problem of odometer-aided in-motion alignment is investigated,where the nonholonomic constraints are efficiently employed in the designed Kalman filtering process with the measured data provided by a calibrated *** the application of odometer under nonholonomic constraints requires the INS body axes to be well aligned with the vehicle body frame（VBF）,INS-to-VBF alignment and calibration of odometer’s scale factor are implemented in the INS/Odometer *** the end of in-motion alignment,the system and measurement equations for INS/Odometer integration are derived to construct a Kalman filter,which is used to process the integrated velocity information and then to obtain estimates of both odometer error states and INS error *** these parameter estimates,the odometer outputs can be calibrated properly,which makes the in-motion alignment implementable and *** effectiveness of the proposed method is tested through ground based navigation experiments.

关键词： Inertial Navigation System in-motion alignment INS-to-VBF alignment Kalman Filter

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An in-motion initial alignment method aided by digital map

An in-motion initial alignment method aided by digital map

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2011年中国智能自动化学术会议

作者：毛玉良韩勇强陈家斌 School of Automation Beijing Institute of Technology

The traditional in-motion initial alignment method obtains the gravity vector in inertial coordinate system twice while parking the land vehicle,and then work out the transformation matrix according to the information *** method sets a limit to the speed and route of vehicle and requires high precision in positioning of coarse *** this work,digital map is introduced into the in-motion *** the aid of map matching algorithm,the positioning accuracy is greatly improved in all speeds and routes,which reduces the effect of misalignment angle from coarse alignment for positioning error and improves the accuracy of the in-motion initial *** tests results show that the integration of digital map and RLG SINS eliminates the requirements of speeds and routes for land vehicles and greatly reduces the effect of coarse alignment for azimuth *** not only enhances the mobility of land vehicle but also improves the accuracy of initial alignment of inertial navigation system,which is meaningful in real application.

关键词： in-motion alignment map matching digital map

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