共查询到20条相似文献,搜索用时 15 毫秒
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Xu Jianmao Zhang Haipeng Sun Junzhong 《中国航空学报》2007,20(6):539-545
In order to improve the navigation accuracy of an inertial navigation system (INS), composed of quartz gyroscopes, the existing real-time compensation methods for periodic errors in quartz gyroscope drift and the periodic error term relationship between sampled original data and smoothed data are reviewed. On the base of the results, a new compensation method called using former period characteristics to compensate latter smoothness data (UFCL for short) method is proposed considering the INS working characteristics. This new method uses the original data without smoothing to work out an error conversion formula at the INS initial alignment time and then compensate the smoothed data errors by way of the formula at the navigation time. Both theoretical analysis and experimental results demonstrate that this method is able to cut down on computational time and raise the accuracy which makes it a better real-time compensation approach for periodic error terms of quartz micro electronic mechanical system (MEMS) gyroscope's zero drift. 相似文献
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Balloon gravimetry using GPS and INS 总被引:1,自引:0,他引:1
Measurement of the horizontal components of gravity at altitude using balloon-borne instrumentation consisting of a Global Positioning System (GPS) receiver and a strapdown inertial navigation system (INS) is discussed. GPS data are to be used primarily to determine the total inertial acceleration of the balloon, while the INS accelerometers sense all nongravitational accelerations. A covariance analysis based on the Kalman filter shows that conventional gravity estimation from GPS-aided INS data is possible only if external attitude updates are also available. An alternative technique is explored that attempts to estimate at least part of the gravitational spectrum without modeling the gravity disturbance as a state variable or relying on external attitude updates, while, at the same time, admitting uncorrected (long-wavelength) attitude errors. Simulations based on a model for typical balloon motion are used to discuss this possibility 相似文献
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弹道导弹天文/惯性导航误差修正方法研究 总被引:2,自引:0,他引:2
通过分析导弹天文导航和惯性导航的导航原理和误差模型,在基于充分利用高精度天文导航参数的思想上,提出了组合导航的误差修正方法。首先对两种导航参数进行了归算,而后提出了利用多次的天文测量参数对惯性测量误差进行修正的方法。该方法能较为准确地分离出引起射程误差较大的关机点速度、位置等的误差值,从而为实现利用天文导航进行射程误差修正提供前提条件。仿真计算表明,该方法是行之有效的。 相似文献
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惯性导航系统的误差随时间累积,旋转调制技术可以有效地提高惯导系统的长航时精度,旋转调制方案是决定旋转式捷联惯导系统导航精度的一个重要因素.针对双轴旋转惯导系统,相较于16次序转位方案,提出了一种新的32次序双轴旋转调制方案.根据捷联惯导系统的误差方程,推导出旋转捷联惯导的误差方程,分析了误差补偿的机理,研究了惯性器件常值偏置误差、标度因数误差和安装角误差的传播特性.仿真结果表明,32次序双轴旋转调制方案相对于16次序转位方案有明显的优势,可以有效地降低姿态角误差和经纬度误差. 相似文献
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基于INS/GNSS紧耦合组合的逐步诱导式欺骗检测算法研究 总被引:1,自引:0,他引:1
传统惯性辅助GNSS欺骗信号检测方法对小于纯惯导误差漂移的逐步拉偏不敏感。针对这一问题,提出了一种基于INS/GNSS紧耦合组合的逐步诱导式欺骗信号检测方法。基于短时间内纯惯性导航结果和短时间惯导系统位置误差传播模型,利用惯导提供的位置和速度对伪距和伪距率时间序列进行预测估算,并结合伪距、伪距率实际测量结果,分别构造位置/伪距和速度/伪距率时间序列模型做参数拟合。基于真实信号得到的模型参数都是由惯导系统误差造成的,具有一致性;而基于逐步诱导式欺骗信号得到的模型参数还与欺骗策略的设定、载体飞行轨迹的观测以及干扰源的位置有关,具有不一致性。通过对比模型参数可判别欺骗信号的存在,对于真实信号,采用紧耦合组合导航修正INS输出;对于欺骗信号,继续惯性导航并采取相应措施。最后,根据逐步诱导式欺骗原理进行实验仿真,验证了算法的可行性和有效性。 相似文献
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对旋转调制惯导转位过程中系统精度受加速度计尺寸效应影响的问题进行了研究。通过分析尺寸效应引起惯导系统(INS)导航误差的机理,推导了尺寸效应作用下加速度测量误差与速度误差的解析表达式。根据理论分析结果,分别给出了以速度误差和加速度误差作为观测量进行尺寸参数辨识的方法,并进行了必要讨论。结合旋转惯导转位过程中的速度误差特征,选取加速度测量误差为观测量对尺寸参数进行试验标定,尺寸参数辨识精度优于1.29 mm(1σ)。在此基础上给出了尺寸效应误差补偿方法,并在不同初始方位下对补偿效果进行试验验证,结果表明,通过尺寸效应补偿可以有效提高旋转惯导转位过程中的速度精度。 相似文献
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Gravity uncertainties are an inexorable source of error in all inertial navigation systems and are particularly important in high-quality inertial navigation systems. In this paper the steady-state rms errors that are excited in a damped inertial navigation system are analytically determined for four gravity uncertainty models and two vehicle maneuver models. The statistical approach used in this paper is compared with an alternate scheme (?direct simulation?) that does not require statistical models for gravity uncertainties. 相似文献
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A design criterion for improving the performance of the speed-damped inertial navigation system is presented. The single-axis speed-damped system is approached by optimizing the response of the system to a step-function disturbing signal. Butterworth, integral of time-multiplied absolute-value of error (ITAE), and solution-time standard forms are assumed to be the figures of merit for optimizing the system performance. The steady-state RMS (root-mean-square) gravity-induced navigation errors that are excited in the speed-damped system are determined for two gravity uncertainty models. The proposed figures of merit are compared. These comparisons reveal the sensitivity of predicted navigation errors to uncertainties in the gravity statistics, and simplify the choice of a suitable figure of merit for use in the design and error analysis of inertial navigation systems 相似文献
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Sharaf R. Noureldin A. Osman A. El-Sheimy N. 《Aerospace and Electronic Systems Magazine, IEEE》2005,20(3):8-14
Most of the present navigation systems rely on Kalman filtering to fuse data from global positioning system (GPS) and the inertial navigation system (INS). In general, INS/GPS integration provides reliable navigation solutions by overcoming each of their shortcomings, including signal blockage for GPS and growth of position errors with time for INS. Present Kalman filtering INS/GPS integration techniques have some inadequacies related to the stochastic error models of inertial sensors, immunity to noise, and observability. This paper aims to introduce a multi-sensor system integration approach for fusing data from INS and GPS utilizing artificial neural networks (ANN). A multi-layer perceptron ANN has been recently suggested to fuse data from INS and differential GPS (DGPS). Although being able to improve the positioning accuracy, the complexity associated with both the architecture of multi-layer perceptron networks and its online training algorithms limit the real-time capabilities of this technique. This article, therefore, suggests the use of an alternative ANN architecture. This architecture is based on radial basis function (RBF) neural networks, which generally have simpler architecture and faster training procedures than multi-layer perceptron networks. The INS and GPS data are first processed using wavelet multi-resolution analysis (WRMA) before being applied to the RBF network. The WMRA is used to compare the INS and GPS position outputs at different resolution levels. The RBF-ANN module is then trained to predict the INS position errors and provide accurate positioning of the moving platform. Field-test results have demonstrated that substantial improvement in INS/GPS positioning accuracy could be obtained by applying the combined WRMA and RBF-ANN modules. 相似文献
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在黑障区飞行阶段中,惯性导航系统会因缺少辅助导航系统而持续累积误差,导致飞行器导航系统可靠性下降。针对这一问题,提出了一种新的基于极限学习机的黑障区智能导航算法,通过极限学习机(ELM)对GPS正常工作的导航信息进行学习。在黑障区,利用学习得到的模型对惯性导航系统进行误差补偿,较好地修正了当GPS失锁时惯性导航系统的误差,避免了因误差累积而导致的导航信息发散。仿真结果表明,该算法能够保证在GPS失锁的黑障区中导航系统输出的信息有较好的可靠性和精度,能够为接下来的姿态调整和着陆准备提供良好的基础。 相似文献
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惯导的误差随着时间增长是积累的,可采用里程计辅助捷联惯导构成纯自主的车载组合导航系统.利用捷联惯导的速度和里程计测量的速度之差作为观测量,通过卡尔曼滤波技术校正惯导的导航参数,可以有效地抑制惯导误差的积累,提高导航参数的精度.本文推导了组合导航系统的模型,从理论上用特征值方法分析了系统的可观测度,进而设计轨迹进行了仿真... 相似文献
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Ocean currents are an important error source in marine inertial navigation systems (INS). Satellite radar altimeter data are used to construct self- consistent Gauss- Markov models of ocean currents. These models are useful for INS error analysis and optimal (Kalman) filtering of INS outputs. 相似文献
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软式平流层飞艇艇体在上升和下降时经常呈堆叠状态,GPS信号会被艇体间歇性遮挡,因而只能采用惯性导航。为保证在飞艇上升和下降过程中,INS/GPS组合导航系统在被艇体遮挡GPS时仍能够提供满足精度要求的导航信息,设计了一种改进的反向传播神经网络(Back Propagation Neural Network, BPNN)惯性导航算法。采用神经网络,根据惯性导航系统在1s内的速度均值和姿态变化量,预估其在1s末的位置误差和速度误差,并对惯性导航结果进行修正。仿真实验和跑车试验结果表明,在GPS失效的30s内,新算法使得位置误差低于15m,速度误差低于0.7m/s,误差相比纯惯性导航降低了85%。 相似文献