传统组合导航中的实用Kalman滤波技术评述

在随机线性系统建模准确的情况下,Kalman滤波是线性最小方差无偏估计。针对传统惯导/卫导组合导航的实际应用,难以精确建模,给出了常用的建模方法、状态量选取原则、离散化方法及滤波快速计算方法。讨论了平方根滤波、自适应滤波、联邦滤波和非线性滤波等技术的适用场合,并给出了使用建议。针对前人研究可观测度中未考虑随机系统噪声的缺陷,提出了更加合理的以初始状态均方误差阵为参考的可观测度定义和分析方法。提出了均方误差阵边界限制方法,可有效抑制滤波器的过度收敛和滤波发散。该讨论可为工程技术人员提供一些有实用价值的参考。     

Observability analysis of piece-wise constant systems. II.Application to inertial navigation in-flight alignment [militaryapplications]

For pt.I see ibid., vol.28, no.4, p.1056-67, Oct. 1992. The method of analyzing the observability of time-varying linear systems as piecewise constant systems (PWCS) is applied to the analysis of in-flight alignment (IFA) of inertial navigation systems (INS) whose estimability is known to be enhanced by maneuvers. The validity of this approach to the analysis of IFA is proven. The analysis lays the theoretical background to, and clearly demonstrates the observability enhancement of, IFA. The analytic conclusions are confirmed by covariance simulations. Although INS IFA was handled to various degrees in the past, a comprehensive control theoretic approach to the problem is introduced. The analysis yields practical conclusions and a procedure previously unknown     

Observability in passive target motion analysis

The nature of observability of nonlinear systems encountered in passive target motion analysis (TMA) is carefully examined. The approach proposed here is based upon a well-chosen criterion which allows us to answer the major observability questions     

Observability Requirements for Three-Dimensional Tracking via Angle Measurements

Observability requirements previously established for bearings-only tracking in two dimensions are extended to a class of three-dimensional estimation algorithms capable of processing any pairwise combination of azimuth bearing, conical bearing, and depth/elevation angle measurements. Although these algorithms are intrinsically nonlinear, it is shown that they can be analyzed in a linear framework without sacrificing mathematical rigor. A simplified observability criterion, applicable to both autonomous and nonautonomous linear systems, is presented and utilized to specify conditions on own-ship motion which are both necessary and sufficient for a unique tracking solution. Further analysis reveals that observability dependence on own-ship maneuvers for the three-dimensional algorithms considered here parallels the concomitant two-dimensional requirements. An interesting difference, however, is that under certain conditions, a unique tracking solution can be obtained in three dimensions for unaccelerated own-ship motion.     

Nth-order dynamics target observability from anglemeasurements

Necessary and sufficient conditions are presented for the observability of the target's Nth-order dynamics, given direction measurements. The derivations are extremely simple and do not require the examination of an observability matrix or nonlinear differential equations. Previously published observability requirements for the first-order dynamics are shown to be necessary but not sufficient     

基于奇异值分解的组合导航可观测度计算

以捷联惯组为主惯导的组合导航系统具有短时定位精度高、可靠性强等优点,但其依然存在长时间导航精度不高、运算量大、组合效率不高等问题。为更好地完善组合导航系统的误差补偿和抑制技术,对SINS/DVL组合导航系统的可观测性能进行了研究。在分段定常系统(Piece-wise Constant System,PWCS)的可观测性分析方法及基于奇异值分解的系统状态可观测度分析方法基础上,结合可观测性矩阵的遗传特性,提出了一种简化的状态量可观测性分析方法,并对该方法进行了理论仿真。为方便比较状态量的可观测程度,对各状态的可观测度进行了归一化处理。最后,通过湖面跑船实验设计了不同的航迹机动方式,计算了关键导航参数的可观测性能。实验证明,该方法可以实时计算组合导航参数的可观测度,根据可观测度设计的航迹可以有效提高导航精度,定位精度可提高1个量级,收敛速度也获得了明显提高。     

高空长航时无人机SINS/CNS组合导航系统仿真研究

根据高空长航时无人机的特点研究了SINS/CNS组合导航系统并进行了仿真。研究了分段定常系统(PWCS)的可观测性分析方法和基于奇异值分解的系统状态可观测度分析问题,并提出了一种改进的状态可观测度分析方法,在求状态变量的可观测度时,抛开了观测量,只利用可观测矩阵进行分析,然后将该理论应用到SINS/CNS组合导航系统中,证明了其合理性与可行性,进一步根据可观测度分析的结果对系统进行反馈校正,通过仿真结果证明导航精度得到了提高。     

Multiposition alignment of strapdown inertial navigation system

The authors demonstrate that the stationary alignment of strapdown inertial navigation system (SDINS) can be improved by employing the multiposition/technique. Using an observability analysis, it is shown that an optimal two-position alignment not only satisfies complete observability conditions but also minimizes alignment errors. This is done by analytic rank testing of the stripped observability matrix and numerical calculation of the error covariance. It is also shown that an optimal three-position alignment accelerates the convergence of the alignment error compared with two-position alignment     

Distributed state estimation for linear time-invariant dynamical systems: A review of theories and algorithms

Distributed state estimation is of paramount importance in many applications involving the large-scale complex systems over spatially deployed networked sensors. This paper provides an overview for analysis of distributed state estimation algorithms for linear time invariant systems. A number of previous works are reviewed and a clear classification of the main approaches in this field are presented, i.e., Kalman-filter-type methods and Luenberger-observer-type methods. The design and the stabil...     

一种基于可观测度分析的SINS/GPS自适应-反馈校正滤波新方法

 针对机载捷联惯导系统(SINS)/全球定位系统（GPS）组合导航系统不完全可观测导致滤波器精度下降甚至发散的问题,提出了一种基于系统状态可观测度分析的自适应反馈校正滤波新方法。该滤波方法改进了系统可观测度的归一化处理方法,将归一化处理后的系统状态可观测度作为反馈因子,对SINS系统进行自适应反馈校正。最后,将该方法应用于机载合成孔径雷达(SAR)运动补偿用SINS/GPS组合导航系统中,飞行试验结果表明该方法在系统不完全可观测的情况下有效地提高了导航精度。     

机动飞机的发展前景

给出了新一代歼击机的主要战术技术特点及国外为之开发的技术措施主要方向。首先提出了新一代歼击机超声速机动能力和超声速巡航能力的必要性 ,论述了直接控制能力的机动优势及采用超临界迎角的机动对飞机的要求 ,然后对动力装置、操纵系统、结构材料、隐身技术和气动外形布局等 5个方面的技术发展分别作了介绍本文给出了建立新一代歼击机布局的基本方向     

Processing of filtered GPS data

General sufficiency conditions are developed for the stability of a discrete-time cascaded-filter architecture. An application of the result is in the filtering of prefiltered Global Positioning System (GPS) data during times in which the GPS receiver is tracking less than four satellites. Simulation results are presented for the case where the master filter processes the GPS filter estimate after the GPS filter attains uniform complete observability and controllability following its third filter cycle as well as the case where the observability condition is not met     

Control for unstable nonminimum phase uncertain dynamic vehicle

A control algorithm for control of linear uncertain systems is presented. This algorithm is applied to the control of an unstable nonminimum phase uncertain dynamic vehicle. The algorithm is based on the state and parameters observability canonical (SPOC) form and a certainty equivalence pole placement controller. The algorithm provides single controller for the problem of the uncertain dynamic vehicle that approaches the performance of a controller designed for perfectly known parameters within the whole range of the plant's parameters uncertainty. The algorithm is globally bounded input bounded output stable and needs only the knowledge of the order of the plant. The algorithm is presented and its performance is demonstrated by simulations     

Observability of an integrated GPS/INS during maneuvers

An observability analysis of a GPS/INS system during manoeuvers is presented based upon a perturbation model with respect to the Earth-centered-Earth-fixed (ECEF) coordinate system. Analysis is performed on two types of manoeuvers, linear acceleration and steady turn. These manoeuvers could be used for in-flight INS alignment using GPS. During the constant linear acceleration without rotation relative to the Earth, the linear system model is shown to be time-invariant. The observability analysis for the time invariant linear system model shows that linear acceleration does not change the number of observable modes but rather the structure of the observable space. For a nonconstant linear acceleration or a steady turn, the perturbation linear system becomes time varying. For this time-varying system, three types of observability are considered, complete, differential, and instantaneous observability. Instantaneous observability is the strongest properties and means that the state of the system at any time may be determined instantaneously from observation of the output and its derivatives. Instantaneous observability is important for fast in-flight INS alignment. It is shown that the number of instantaneously observable moded is increased by at least 2 during a maneuver. Hence, some linear combinations of the attitude angles become instantaneously observable.     

Discrete-time observability and estimability analysis for bearings-only target motion analysis

Observability in the context of bearings-only tracking (BOT) is still the subject of important literature. Different from previous approaches, where continuous-time analysis was considered, our approach relies on discrete-time analysis. It is then shown that this allows us to use directly and efficiently the simple formalisms of linear algebra. Using the direct approach, observability analysis is essentially reduced to basic considerations about subspace dimensions. Even if this approach is conceptually quite direct, it becomes more and more complex as the source-encounter scenario complexity increases. For complex scenarios, the dual approach may present some advantages essentially due to the direct use of multilinear algebra. New results about BOT observability for maneuvering sources are thus obtained. Observability analysis is then extended to unknown instants of source velocity changes. Even if observability analysis provides thorough insights about the algebraic structure of the BOT problem, the optimization of the observer maneuvers is essentially a control problem. Basic algebraic considerations prove that a relevant cost functional for this control problem is the determinant of the Fisher information matrix (FIM). So, a large part of this work is devoted to the analysis of this cost functional. Using multilinear algebra, general approximations of this functional are given. In order to involve only directly estimable parameters, the source bearing-rates are examined. Using these approximations, a general framework for optimizing the observer trajectory is derived which allow us to approximate the optimal sequence of controls. It is worth stressing that our approach does not require the knowledge of the source trajectory parameters and is still valid for a maneuvering source.     

矩阵数值秩的一种确定方法及其在控制系统中的应用

一、矩阵的数值秩 矩阵秩的确定在现代控制理论中占有重要的地位。在代数理论中,用行列式或特征值来判断矩阵的秩,由于舍入误差的存在,用计算机判断矩阵秩时,这些方法是不完全适用的。     

Error estimation of INS ground alignment through observabilityanalysis

A systematic analysis of the observability of an inertial navigation system (INS) in ground alignment with Bar-Itzhack and Berman's error model is presented. It is shown that the unobservable states are separately contained in two decoupled subspaces. The constraints on the selection of unobservable states are discussed. An estimation algorithm which is derived fully from the horizontal velocity outputs for computing the misalignment angles is provided. It reveals that the azimuth error can be entirely estimated from the estimates of leveling error and leveling error rate, without using gyro output signals explicitly     

Optimal observer maneuver for bearings-only tracking

In bearings-only tracking, observer maneuver is critical to ensure observability and to obtain an accurate target localization. Here, optimal control theory is applied to the determination of the course of a constant speed observer that minimizes an accuracy criterion deduced from the Fisher information matrix (FIM). Necessary conditions for optimal maneuver (Euler equations) are established and resolved, partly by analytical means and partly by an iterative numerical procedure. Examples of optimal observer maneuvers are presented and discussed     

Calculation of decoupling zeroes in the multiconnected dynamic system

A recursive method for calculating decoupling zeroes in the linear multiconnected dynamic system based on the application of matrix canonization techniques is proposed. Its essence is that the problem dimension is successively decreased and reduced to finding eigenvalues of some matrix. The results obtained can be used to check controllability and observability as well as to calculate uncontrollable and unobservable modes of the dynamic system.     

Use of the radial velocity measurement in target tracking

A new sequential filtering algorithm that incorporates the radial velocity measurement into a Kalman filter, in the presence of correlated range and radial velocity measurement errors, is presented. An analysis is given concerning its asymptotic behavior on the basis of analysis of its stochastic controllability and observability. The simulation results verify the analysis and show that the new algorithm is superior to the conventional extended Kalman filter (EKF) and close to an ideal filter.