An attitude updating algorithm using Picard iteration and higher degree polynomial

2021 ◽  
pp. 095441002098663
Author(s):  
Xiaole Guo ◽  
Xixiang Liu ◽  
Miaomiao Zhao ◽  
Jie Yan ◽  
Wenqiang Yang ◽  
...  
Keyword(s):  
Inertial Navigation System ◽  
Angular Rate ◽  
Dynamic Environments ◽  
Picard Iteration ◽  
Calculation Error ◽  
Degree Polynomial ◽  
Body Attitude ◽  
High Dynamic ◽  
Simulation Results ◽  
Fitting Error

To accurately track body attitude under high dynamic environments, a new attitude updating algorithm for the strapdown inertial navigation system is proposed after further applying higher degree polynomial to the quaternion Picard iteration (QPI) algorithm. With QPI, calculation error introduced by Picard approximation can be eliminated, but the angular rate fitting error introduced by substituting polynomial for angular rate of body will still affect the accuracy of the attitude updating algorithms which are designed based on polynomial model. Hence, a five- rather three-degree polynomial constructing method using four samples of gyro outputs with coning motion constrain is designed and tested. Simulation results indicate the proposed method owns more accuracy than QPI, optimal coning algorithm, and Fourth4Rot under both low and high dynamic environments.

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 Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base

2013 ◽  
Vol 415 ◽  
pp. 143-148
Author(s):  
Li Hua Zhu ◽  
Xiang Hong Cheng
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Alignment Algorithm ◽  
Alignment Method ◽  
Initial Alignment ◽  
Vehicle Simulation ◽  
Robust Property ◽  
Simulation Results ◽  
Lever Arm Effect ◽  
The Impact

The design of an improved alignment method of SINS on a swaying base is presented in this paper. FIR filter is taken to decrease the impact caused by the lever arm effect. And the system also encompasses the online estimation of gyroscopes’ drift with Kalman filter in order to do the compensation, and the inertial freezing alignment algorithm which helps to resolve the attitude matrix with respect to its fast and robust property to provide the mathematical platform for the vehicle. Simulation results show that the proposed method is efficient for the initial alignment of the swaying base navigation system.

Dynamic Modeling of a High-Dynamic Flight Simulator

2014 ◽  
Vol 687-691 ◽  
pp. 610-615 ◽  
Author(s):  
Hui Liu ◽  
Li Wen Guan
Keyword(s):  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Inverse Dynamic ◽  
Dynamic Formulation ◽  
Time Histories ◽  
Rotational Degrees Of Freedom ◽  
High Dynamic ◽  
Euler Approach ◽  
Simulation Results

High-dynamic flight simulator (HDFS), using a centrifuge as its motion base, is a machine utilized for simulating the acceleration environment associated with modern advanced tactical aircrafts. This paper models the HDFS as a robotic system with three rotational degrees of freedom. The forward and inverse dynamic formulations are carried out by the recursive Newton-Euler approach. The driving torques acting on the joints are determined on the basis of the inverse dynamic formulation. The formulation has been implemented in two numerical simulation examples, which are used for calculating the maximum torques of actuators and simulating the time-histories of kinematic and dynamic parameters of pure trapezoid Gz-load command profiles, respectively. The simulation results can be applied to the design of the control system. The dynamic modeling approach presented in this paper can also be generalized to some similar devices.

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.

Rigid-body attitude stabilization with attitude and angular rate constraints

Automatica ◽  
2018 ◽  
Vol 90 ◽  
pp. 157-163 ◽  
Author(s):  
Qiang Shen ◽  
Chengfei Yue ◽  
Cher Hiang Goh ◽  
Baolin Wu ◽  
Danwei Wang
Keyword(s):  
Rigid Body ◽  
Angular Rate ◽  
Attitude Stabilization ◽  
Body Attitude ◽  
Rate Constraints

scholarly journals Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4322 ◽  
Author(s):  
Caroline Silva ◽  
Átila de Oliveira ◽  
Marcelo Fernandes
Keyword(s):  
Genetic Algorithm ◽  
Population Size ◽  
Autonomous Navigation ◽  
Genetic Parameters ◽  
Dynamic Environments ◽  
Dynamic Planning ◽  
Navigation Algorithm ◽  
Navigation Strategy ◽  
Terrestrial Environments ◽  
Simulation Results

This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots.

Sign in / Sign up

Export Citation Format

Share Document