Hardware in-the-Loop Simulation of Celestial Angle and Velocity Measurement Integrated Navigation System

2018 ◽  
Author(s):  
Xiao Chen ◽  
Zhaowei Sun ◽  
Qinglong Huang ◽  
Ming Liu ◽  
Wei Zhang
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Hardware In The Loop ◽  
Integrated Navigation ◽  
Integrated Navigation System

scholarly journals MEMS Based SINS/OD Filter for Land Vehicles’ Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Huisheng Liu ◽  
Zengcai Wang ◽  
Susu Fang ◽  
Chao Li
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Microelectromechanical Systems ◽  
Low Cost ◽  
Detection Algorithm ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Land Vehicles ◽  
Mems Imu

A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.

Research on the Hardware-in-the-Loop Simulation for High Dynamic SINS/GNSS Integrated Navigation System

2013 ◽  
Vol 846-847 ◽  
pp. 378-382
Author(s):  
Hao Ran Lei ◽  
Shuai Chen ◽  
Yao Wei Chang ◽  
Lei Jie Wang
Keyword(s):  
Navigation System ◽  
Dynamic Condition ◽  
Angular Rate ◽  
Rotation Vector ◽  
Measurement Unit ◽  
Hardware In The Loop ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Sample Rotation ◽  
High Dynamic

In the process of developing guided munitions, ground test can only verify the performance of integrated navigation system in low dynamic condition, and its costly and risky to use means of authentication such as flight test and throw experiment. This paper proposes a kind of hardware-in-the-loop simulation (HILS) scheme with tri-axial turntable for verifying the performance of navigation system in high dynamic condition. It respectively uses quaternion method and four-sample rotation vector algorithm as attitude updating algorithms for comparison. On the basis of analyzing the characteristics of some tactical missile and the HILS system, the error sources of integrated navigation system in the simulation with turntable and that without turntable are discussed in detail. The results of HILS show that integrated navigation system is of good performance under high dynamic environment; moreover, for the fiber optic gyroscope (FOG) inertial measurement unit (IMU) which outputs angular rate, quaternion method is better than four-sample rotation vector algorithm.

In-Motion Initial Alignment Method for LDV-Aided SINS Based on Adaptive Unscented Quaternion H-infinite Filter

2021 ◽  
Author(s):  
Zhiyi Xiang ◽  
Qi Wang ◽  
Rong Huang ◽  
Chongbin Xi ◽  
Xiaoming Nie ◽  
...  
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Measurement Accuracy ◽  
Laser Doppler Velocimeter ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Initial Alignment ◽  
Environment Change ◽  
Integrated Navigation System ◽  
Filter Process

Abstract With the advantages of high velocity measurement accuracy and fast dynamic response, the laser Doppler velocimeter (LDV) is expected to replace the odometer (OD) to be combined with a strapdown inertial navigation system (SINS) to form a higher precision integrated navigation system. Since LDV has higher velocity measurement accuracy and data update frequency than OD and Doppler velocity log, LDV is used for the first time to aid SINS in in-motion alignment in this paper. Considering that some approximation used in the alignment model, the uncertainty noise of the sensors during the motion process and the unknown noise parameters during the filter process, an adaptive unscented quaternion H-infinite estimator (AUSQUHE) is proposed in this paper. The proposed AUSQUHE method has high robustness since it combines the advantages of unscented quaternion estimator and H-infinite filter. And the adaptive threshold of H-infinite filter and the adaptive measurement noise covariance matrix are introduced to make the filter adapt to the environment change and accelerate the convergence of errors. The performance of the proposed method is verified by a vehicle field test with normal LDV signal and a vehicle test with LDV signal disturbed by the noise. The results show that the proposed method has higher alignment accuracy, faster convergence speed and stronger robustness than four other compared methods.

Heading Measurement Based on Ultrasonic and Magnetic Compass

2013 ◽  
Vol 341-342 ◽  
pp. 896-900
Author(s):  
Bao Jiang Sun ◽  
Yue Xu
Keyword(s):  
Navigation System ◽  
Simulation Experiment ◽  
Measurement Data ◽  
Magnetic Compass ◽  
Positioning System ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
Advantages And Disadvantages ◽  
Measurement Principle

Describes briefly ultrasonic positioning system (UPS) and digital magnetic compass (DMC) heading measurement principle,analyzed the advantages and disadvantages of each option. To improve the accuracy of the heading measurement, As the theoretical basis of adaptive Kalman filter, designed a kind of ups and dmc integrated navigation system. Based on both real measurement data, made a simulation experiment and confirmed the feasibility of the navigation system.

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