scholarly journals Research on the Relative Positions-Constrained Pattern Matching Method for Underwater Gravity-Aided Inertial Navigation

2015 ◽  
Vol 68 (5) ◽  
pp. 937-950 ◽  
Author(s):  
Lin Wu ◽  
Hubiao Wang ◽  
Hua Chai ◽  
Houtse Hsu ◽  
Yong Wang
Keyword(s):  
South China Sea ◽  
Pattern Matching ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Success Rates ◽  
Simulation Test ◽  
Matching Method ◽  
Contour Matching ◽  
Simulation Results ◽  
Straight Lines

A Relative Positions-Constrained pattern Matching (RPCM) method for underwater gravity-aided inertial navigation is presented in this paper. In this method the gravity patterns are constructed based on the relative positions of points in a trajectory, which are calculated by Inertial Navigation System (INS) indications. In these patterns the accumulated errors of INS indicated positions are cancelled and removed. Thus the new constructed gravity patterns are more accurate and reliable while the process of matching can be constrained, and the probability of mismatching also can be reduced. Two gravity anomaly maps in the South China Sea were chosen to construct a simulation test. Simulation results show that with this RPCM method, the shape of the trajectory in gravity-aided navigation is not as restricted as that in traditional Terrain Contour Matching (TERCOM) algorithms. Moreover, the performance included matching success rates and position accuracies are highly improved in the RPCM method, especially for the trajectories that are not in straight lines. Thus the proposed method is effective and suitable for practical navigation.

Screw Algorithm Optimized with Instantaneous Signals

2012 ◽  
Vol 229-231 ◽  
pp. 1671-1674
Author(s):  
Jian Feng Chen ◽  
Xi Yuan Chen ◽  
Xue Fen Zhu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Angular Rate ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Specific Force ◽  
Dual Quaternion ◽  
Screw Motion ◽  
Direct Component ◽  
Simulation Results

Recent dramatic progress in strapdown inertial navigation system (SINS) algorithm is the design of SINS principle based on screw algorithm, utilizing dual quaternion. In this paper, the screw algorithm consisting of angular rate and specific force is optimized under a special screw motion. The special screw motion is derived from classical screw motion and can be taken as a complicated sculling motion including classical coning motion. Subsequently, the coefficients in the multi-sample screw algorithms and the corresponding algorithm drifts are determined by minimizing the error on direct component. The simulation results of attitude and velocity errors agree with the optimization goals, except when the number of subinterval is greater than 2. An explanation of this phenomenon is delivered.

An Improved Geomagnetic Matching Algorithm Using Rotation Angle Search Technique

2011 ◽  
Vol 383-390 ◽  
pp. 7576-7581 ◽  
Author(s):  
Ya Jie Liu ◽  
Yan Zhao ◽  
Fa Lin Wu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Rotation Angle ◽  
Inertial Navigation ◽  
Search Technique ◽  
Matching Accuracy ◽  
Search Range ◽  
Matching Algorithm ◽  
Contour Matching ◽  
Matching Probability

The accumulation course angle error of inertial navigation system will decrease the accuracy and reliability of an geomagnetism aided inertial navigation system using a geomagnetic contour matching algorithm. To improve the matching accuracy, the matching track and true track should be as parallel as possible. An improved geomagnetic matching algorithm is presented by introducing rotation angle search technique. To reduce the computation burden, improve operation efficiency and reduce false matching probability, a new search area determination method is proposed, which redefines the search region and reduces the search range. Simulation results demonstrate the effectiveness of the proposed algorithm and the improvement in the matching accuracy.

scholarly journals Improvement of position and orientation of Unmanned Arial Vehicle (UAV) with INS/ GPS

2018 ◽  
Vol 7 (2.7) ◽  
pp. 642
Author(s):  
V Appala Raju ◽  
P Vasundhara ◽  
V ChandraKanth Reddy ◽  
A Sai Aiswarya
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Extended Kalman Filter ◽  
Navigation System ◽  
Reference System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
State Estimate ◽  
Simulation Results ◽  
Position And Orientation

This paper deals with the methods performing state estimation .that is position and orientation of Unmanned Arial Vehicle (UAV) using GPS, gyro, accelerometers and magnetometer sensors. Various methods are designed for position and orientation measurements of UAV. In this paper we proposed extended kalman filter based inertial navigation system using quaternions and 3D magnetometer. Initially we load UAV truth data from a file ,generate noisy UAV sensor measurements and perform UAV state estimation and display UAV state estimate results with proposed method compares with previously exited method extended  kalman filter based altitude and heading reference system using quaternion and 3D magnetometer simulation .Results shows that EKF-INS method gives better position and orientation of UAV.  

Design and Research of Dynamical Property Testing System for Nano and Micron Inertial Components

2014 ◽  
Vol 609-610 ◽  
pp. 1349-1356
Author(s):  
Li Yong Zhang
Keyword(s):  
System Identification ◽  
Dynamic Characteristics ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Circuit Simulation ◽  
Inertial Navigation ◽  
Structure Identification ◽  
Simulation Test ◽  
System Identification Method ◽  
Identification Method

The accelerometer is a sensitive inertial component of the inertial navigation system, and its output signal is proportional to the transporters acceleration. In system design and test, the dynamic characteristic of the closed-loop system is an important parameter. At present, the use of wire vibration or angular vibration to provide an input signal cannot meet the amplitude and phase of system testing requirements, and the test cost is high. Therefore, the study of how the dynamic characteristics of electrical simulation test system to give a precise mathematical accelerometer model is an important part of the analysis of the inertial navigation system,which is an effective method to acquire the dynamic characteristics and can be extended to mini inertia instruments. In this paper, we use the system identification method to identify the model of the system. Modeling of the system identification method is to determine the mathematical model of the system by observing the relationship between system inputs and outputs. The content of system identification generally includes four parts which are experimental design, model structure identification, parameter estimation and model test. Circuit simulation test of dynamic character of accelerometer system and model identification method have been applied in practical application. This paper has tested the accuracy of developed system designed by different system identifications.

Technology of gravity aided inertial navigation system and its trial in South China Sea

2016 ◽  
Vol 10 (5) ◽  
pp. 862-869 ◽  
Author(s):  
Hubiao Wang ◽  
Lin Wu ◽  
Hua Chai ◽  
Houtse Hsu ◽  
Yong Wang
Keyword(s):  
South China Sea ◽  
South China ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
China Sea

METHOD FOR DETERMINING THE MISALIGNMENT OF OPTICAL-ELECTRONIC AND INERTIAL ORIENTATIONS HELICOPTER SYSTEMS

2021 ◽  
pp. 3-11
Author(s):  
V. M. Lisitsyn ◽  
G. G. Sebryakov ◽  
K. V. Obrosov ◽  
V. A. Safonov
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Least Squares Method ◽  
Inertial Navigation ◽  
Electronic System ◽  
Coordinate Systems ◽  
Angular Velocity Vector ◽  
Video Information ◽  
Characteristic Points ◽  
Straight Lines

A unique method for determining the misalignment of the orientation of the instrumental coordinate systems of different posts of the optical-electronic system of a helicopter with each other and with an inertial navigation system is proposed. The method does not require preflight preparation, and is based on processing video information streams generated by thermal imaging and television channels of the optical-electronic system, and using information from an inertial navigation system. The method involves the helicopter performing a special maneuver, which is a rotation of the helicopter at a low altitude. This maneuver can be automated. When the helicopter rotates, trajectories of characteristic points of the underlying surface and airfield infrastructure are formed on the images. In general, the trajectories of these points are hyperbolas, which are approximated by straight lines. The parameters of these straight lines are determined using the least squares method. The angle of inclination of straight lines in the screen coordinate system determines the position of the angular velocity vector in the instrument coordinate systems. Since all the posts of the optical-electronic system measure the same vector, it is possible to determine their mismatch in roll between themselves and with the inertial navigation system. Preliminary modeling showed high potentialities of the proposed method. The method can be considered as an integral part of a more general method for coordinating coordinate systems in roll, pitch and course based on processing video streams of optical-electronic systems. When the method is used in real conditions, the errors in estimating the angular misalignment of the optical-electronic and inertial systems of a helicopter can be in units of arc minutes.

Calibration for gimbaled platform inertial navigation system on centrifuge

2017 ◽  
Vol 233 (1) ◽  
pp. 250-260 ◽  
Author(s):  
Yong-fei Xu ◽  
Shi-feng Zhang
Keyword(s):  
Genetic Algorithm ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Correlation Coefficients ◽  
Error Models ◽  
Calibration Scheme ◽  
Simulation Results ◽  
Position Calibration ◽  
Error Coefficients

In order to calibrate the error coefficients of the gimbaled platform inertial navigation system on precision centrifuge precisely and effectively, a six-position calibration scheme is provided. Firstly, the error models of the platform inertial navigation system are established and the applied acceleration equation is given. Then, the redundancy of the error coefficients is analyzed and a method of studying the observability based on the correlation coefficients is proposed. Finally, the optimal calibration scheme is obtained using the genetic algorithm. Simulation results show that the error coefficients can be effectively calibrated through the proposed scheme.

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