An adaptive strong tracking Kalman filter for position and orientation system

2016 ◽  
Vol 38 (10) ◽  
pp. 1212-1224 ◽  
Author(s):  
Quan Cao ◽  
Maiying Zhong
Keyword(s):  
Kalman Filter ◽  
Orientation System ◽  
Position And Orientation

scholarly journals A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Yanshun Zhang ◽  
Shuangji Feng ◽  
Zhanqing Wang ◽  
Xiaopeng Xi ◽  
Ming Li
Keyword(s):  
Inertial Sensors ◽  
Orientation System ◽  
Imaging Payloads ◽  
Position And Orientation ◽  
Velocity Motion ◽  
Stabilized Platform ◽  
Application Requirements ◽  
Inertially Stabilized Platform ◽  
Centralized System ◽  
Effective Function

Considering the application requirements of independent imaging payloads design, a novel scheme of separated position and orientation system (POS) is proposed, in which the high-precision inertial sensors of traditional centralized POS fixed on the imaging payloads are mounted on three gimbals of the inertially stabilized platform (ISP), respectively, and make them integrated. Then, the kinematics model of the ISP system is built to transmit the inertial information measured by separated inertial sensors mounted on ISP gimbals and flight body to the imaging payloads, calculating the position and attitude of the imaging payloads to achieve the function of separated POS. Based on the model, a series of simulations indicate that the precision difference between separated system and centralized system is ignorable under the condition of angular motion and variable velocity motion. Besides the effective function equal to traditional centralized system, the separated POS enhances the integration with the ISP. Moreover, it improves the design independence of the imaging payloads significantly.

scholarly journals Airborne Distributed Position and Orientation System Transfer Alignment Method Based on Fiber Bragg Grating

Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 2120
Author(s):  
Wen Ye ◽  
Bin Gu ◽  
Yun Wang
Keyword(s):  
Fiber Bragg Grating ◽  
State Equation ◽  
Bragg Grating ◽  
Navigation Systems ◽  
Effective Measure ◽  
Transfer Alignment ◽  
Movement Error ◽  
Orientation System ◽  
Position And Orientation ◽  
Flexible Deformation

With the demand for high resolution remote sensing, load array technology has gradually become an effective measure to improve imaging resolution. However, the external flow and internal engine vibration disturbance may lead to the flexible deformation of wings. The traditional rigid baseline error compensation method cannot solve the problem of serious coupling movement error caused by flexible deformation. To address the problem, a transfer alignment model based on fiber Bragg grating for distributed position and orientation system is proposed in this paper. Firstly, based on the multidimensional requirements of flexible deformation information, the layout scheme of fiber Bragg grating was designed, then the continuous strain in the wing surface was obtained after the quadratic fitting of strain measured by fiber Bragg gratings, and the deformation displacement and angle are calculated. Thirdly, flexible deformation compensation for distributed position and orientation system based on fiber Bragg grating was studied. The state equation including position error, velocity error, misalignment angle, and inertial device error was established. The position and attitude information compensated by the flexible lever arm was used as the quantitative measurement. The filtering estimation improved the measurement accuracy of the slave inertial navigation systems. At last, the experiment was carried out and showed that the accuracy of the transfer alignment has been improved significantly.

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.  

scholarly journals Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4932
Author(s):  
Zhuangsheng Zhu ◽  
Hao Tan ◽  
Yue Jia ◽  
Qifei Xu
Keyword(s):  
Remote Sensing ◽  
Real Time ◽  
High Precision ◽  
Gravity Data ◽  
Flight Test ◽  
Disturbance Compensation ◽  
Gravity Disturbance ◽  
Orientation System ◽  
Aerial Remote Sensing ◽  
Position And Orientation

The Position and Orientation System (POS) is the core device of high-resolution aerial remote sensing systems, which can obtain the real-time object position and collect target attitude information. The goal of exceeding 0.015°/0.003° of its real-time heading/attitude measurement accuracy is unlikely to be achieved without gravity disturbance compensation. In this paper, a high-precision gravity data architecture for gravity disturbance compensation technology is proposed, and a gravity database with accuracy better than 1 mGal is constructed in the test area. Based on the “Block-Time Variation” Markov Model (B-TV-MM), a gravity disturbance compensation device is developed. The gravity disturbance compensation technology is applied to POS products for the first time, and is applied in the field of aerial remote sensing. Flight test results show that the heading accuracy and attitude accuracy of POS products are improved by at least 6% and 16%, respectively. The device can be used for the gravity disturbance compensation of various inertial technology products.

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