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Error Analysis of Space-Stable Inertial Navigation Systems 总被引:1,自引:0,他引:1
Nash R.A. Levine S.A. Roy K.J. 《IEEE transactions on aerospace and electronic systems》1971,(4):617-629
The error equations for a space-stable inertial navigation system are derived. This is done by directly perturbing the mechanization equations in the inertial frame and then transforming in open-loop fashion to the local-level frame. A rotating inertial platform and velocity and altitude damping are considered. The relations between errors in space-stable and local-level systems are noted. Numerical results are presented for certain random error sources. 相似文献
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Modeling quaternion errors in SDINS: computer frame approach 总被引:2,自引:0,他引:2
Hyung Keun Lee Jang Gyu Lee Yong Kyu Roh Chan Gook Park 《IEEE transactions on aerospace and electronic systems》1998,34(1):289-300
We propose new equivalent tilt error models which are applicable to the analysis of the terrestrial strapdown inertial navigation systems (SDINS), based on the quaternions. The currently available equivalent tilt error models, like the conventional Φ model of the gimbaled inertial navigation systems (GINS), are derived only by the true frame approach. The true frame approach has a computational disadvantage that it produces an error model where the attitude error equation is coupled with its position and velocity error equations. The motivation of this work is to solve this problem. As a result, two kinds of error models are derived. Among them, one is derived by the computer frame approach for practical onboard implementations. Thus, like the conventional GINS Ψ model, its attitude error equation is decoupled from the position and velocity error equations. The other is derived in order to show the relationship between the true frame approach and the computer frame approach which are applied to the quaternion-based SDINS. Thus, like the GINS δΘ model, it can be used to transform the error variables into each other which are calculated by the two different approaches 相似文献
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The estimation problem is defined, and a review of how the linear estimation approach of Kalman filtering is extrapolated to form an extended Kalman filter (EKF), applicable for state estimation in nonlinear systems is presented. A mechanization of an EKF variation known as an iterated EKF, offering improved tracking performance, is treated. A streamlined version of an iterated EKF that has a lesser computational burden (fewer operations per cycle or time step) than prior formulations is offered. A nonlinear filtering application example, to be used as a testbed for this new approach, is described, and the detailed modeling considerations as needed for exoatmospheric random-variable radar target tracking are discussed. The performance of the streamlined mechanization is illustrated in this radar target tracking example, and comparisons are made with the performance of an EKF without measurement iteration 相似文献
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Multimode airborne weapons systems are now a reality. Because of the increased complexity of these systems, excessive maintenance time has become a problem. This paper describes an approach to reducing maintenance time through the use of semiautomatic built-in-test equipment within the framework of an integrated maintenance program. Emphasis is placed on the methods and hardware involved in the built-in-test mechanization as well as describing the development history of this type of maintenance concept. 相似文献
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A strapdown mechanization and associated Kalman filter are developed to provide both ground align and airstart capabilities for inertial navigation systems (INSs) using Doppler velocity and position fixes, while not requiring an initial heading estimate. Position update during coarse mode is possible by defining sine and cosine of wander angle as filter states and modeling the position error in geographic frame while integrating velocity in the wander frame. INS Global Positioning System (GPS) differential position due to GPS antenna moment arm can aid heading convergence during hover turns in helicopter applications. Azimuth error state in the fine mode of the filter is defined as wander angle error to provide continuous estimation of navigational states, as well as inertial/aiding sensor errors, across the coarse-to-fine mode transition. Though motivated by a tactical helicopter application, the design can be applied to other vehicles. Advantages over conventional systems in addition to the airstart capability include robustness and versatility in handling many different operational conditions 相似文献
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A comparison of the error propagation in a local-level reference frame is derived for two inertial navigation systems; one has a local-level configuration, and the other has a space-stable configuration. The error propagation is shown to be equivalent for the two cases considered. This equivalence is demonstrated by starting with the error propagation equations for the space-stable system and transforming them to a local-level reference frame. The transformed equations are then compared with the classical local-level error equations, and the equivalence is noted. The specific implementation used in each case considers velocity damping but not altitude damping. 相似文献
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根据标校卫星的用途及所需提供的高精度比较标准等技术要求,针对星载比较标准及靶场数据处理状况,提出了改进和提高测控系统精度鉴定的技术途径.探讨和提出了4种类型的数据处理技术和方法,简述了它们的思路和关键技术,分析了应用条件和特点.其中.第1种方法是目前使用的经典鉴定方法;后3种方法(自鉴定方法、精确标准鉴定方法和融合处理鉴定方法)都充分利用了星上测量资源、卫星轨道运动特性以及优良的差分、自校准等融合处理技术,它们都明显优于经典鉴定方法.可以使标校卫星提供更精确的比较标准,扩大其目前的功能和用途.特别是融合处理鉴定方法,不仅可以精确地评定定位系统测量精度,而且可以为测速系统精度评定提供一种良好的技术途径. 相似文献
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Terrestrial inertial navigation is typically performed using an instrumented platform stabilized in a ?local-level? configuration for convenient generation of geographic navigation information. The local-level geographic reference must be maintained by torquing the system gyros, a requirement which may be incompatible with high-precision inertial sensors currently under development. Gyro torquing in a gimballed navigation system can be avoided by employing a ?space-stable? mechanization of the platform where an inertial, rather than geographic, reference is used for navigation calculations. The software design problems associated with this concept, especially those related to the application of Kalman filtering, are the principle focus of this paper. Although the space-stable configuration has been used extensively for spacecraft navigation and guidance, it has not been widely applied to terrestrial navigation, either for air or marine applications. The chief problem in this application is to perform navigation in local-level coordinates, using system outputs generated in an inertial reference frame. It can be demonstrated that, although the navigation system error dynamics are identical for the local-level and space-stable configurations, the dynamics of the sensor errors which drive these systems are quite different. These differences in sensor error propagation characteristics impose new requirements for the design of procedures to accomplish system calibration, alignment, and reset. This paper outlines a Kalman filtering approach which is applicable to all of the above procedures, and presents numerical results to demonstrate its effectiveness. 相似文献
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A digital processing approach has been devised for performing motion compensation in a high-resolution airborne synthetic aperture radar in the presence of simultaneous longitudinal (speed change), lateral (turn), and vertical (climb or dive) maneuvers. Both side-look and squint are accommodated in a unified scheme, which is validated by various simulation runs reported herein. Present attention is focused on theoretical verification, irrespective of mechanization or specific parameter values. 相似文献
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靶场测控通信系统可靠性分析 总被引:2,自引:0,他引:2
首先确定了测控通信系统可靠性分析框架,然后针对系统构型为串并联系统、试验信息为成败型数据/寿命型数据的情况,研究了可靠性信息融合的Bayes方法,最后讨论了系统可靠性的Bayes统计推断问题,包括点估计、置信估计和假设检验。 相似文献
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在基于卡尔曼滤波器并引入了姿态观测量的GPS/SINS组合导航系统中,GPS天线体坐标系与IMU所在的载体坐标系由于安装误差或其他原因不能完全重合,两个坐标系间存在失准角,导致多天线GPS与SINS输出的姿态信息在空间不能同步,这将影响卡尔曼滤波的效果。本文针对这一问题进行了深入的研究,分析了两个坐标系空间不一致的机理,给出了静态和动基座情况下标定两个坐标系位置关系的方法并进行仿真分析验证了其可行性。 相似文献
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STADAR is a Servo Tester with Automatic Data Acquisition and Reduction developed for the Apollo program. This paper describes the operational capability of STADAR and discusses certain aspects of the design. STADAR evaluates system performance by supplying an input stimuli and two data acquisition and analysis channels. Stimuli (0.02-30 c/s 0-10 V peak) are automatically programmed to a frequency accuracy of ±0.01 percent and an amplitude accuracy of ± 0.1 percent. Data acquisition accuracy is 0.1 percent or 50 microvolts. System design utilizes programmable data filters to improve system S/N ratio. Active filter mechanization methods and results are presented as well as techniques for instantaneous precise generation of stimuli which are automatically programmed. 相似文献
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差值法与比值法对不同测量系统的误差修正效果不一样。本文将两种方法的比较用一个比值来描述,并用推得的公式进行量化表示。在进一步的应用研究中,理论分析与实验数据相互印证,同时得到许多有益的结论,有助于全面掌握测量系统的误差来源,从而灵活选择各种修正方法以获得更加准确的测量结果。 相似文献
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自对准技术是陆基机动平台及装备用惯导系统的一项关键技术,其核心在于惯导系统如何在风扰、发动机振动、人员走动等各种干扰下实现快速、高精度对准.针对目前常用的惯性系解析自对准、Kalman滤波估计自对准和惯性系奇异值分解(SVD)自对准等三种方法进行了研究和对比分析,根据三种对准方法各自的实现原理,提出了一种有针对性的抗扰动优化方法,并通过了数学仿真分析和车载试验验证.结果 表明,在车载使用环境下,后两种方法都能获得较为准确的姿态信息,惯性系SVD方法可以达到与Kalman滤波方法相当的对准精度和收敛速度,且无需先验信息即可获得最优解,表现出了较好的工程应用优势. 相似文献
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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... 相似文献