CN103776449A - 一种提高鲁棒性的动基座初始对准方法 - Google Patents
一种提高鲁棒性的动基座初始对准方法 Download PDFInfo
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- CN103776449A CN103776449A CN201410065851.4A CN201410065851A CN103776449A CN 103776449 A CN103776449 A CN 103776449A CN 201410065851 A CN201410065851 A CN 201410065851A CN 103776449 A CN103776449 A CN 103776449A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104344835A (zh) * | 2014-10-28 | 2015-02-11 | 北京理工大学 | 一种基于切换式自适应控制罗经的捷联惯导动基座对准方法 |
CN104613984A (zh) * | 2015-02-06 | 2015-05-13 | 东南大学 | 临近空间飞行器传递对准模型不确定性的鲁棒滤波方法 |
CN106595705A (zh) * | 2016-11-22 | 2017-04-26 | 北京航天自动控制研究所 | 一种基于gps的飞行中惯性初始基准偏差估计方法 |
CN106767788A (zh) * | 2017-01-04 | 2017-05-31 | 北京航天自动控制研究所 | 一种组合导航方法和*** |
CN107990912A (zh) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | 一种抗差自适应滤波动基座传递对准方法 |
CN111044049A (zh) * | 2019-12-30 | 2020-04-21 | 东南大学 | 一种用于恶劣海况下无人船对准的改进ukf算法 |
CN111912405A (zh) * | 2019-05-10 | 2020-11-10 | 中国人民解放***箭军工程大学 | 一种基于车载惯组与多普勒雷达的组合导航方法及*** |
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CN101216319A (zh) * | 2008-01-11 | 2008-07-09 | 南京航空航天大学 | 基于联邦ukf算法的低轨卫星多传感器容错自主导航方法 |
CN101505532A (zh) * | 2009-03-12 | 2009-08-12 | 华南理工大学 | 一种基于分布式处理的无线传感器网络目标跟踪方法 |
CN102176032A (zh) * | 2011-01-13 | 2011-09-07 | 北京航空航天大学 | 一种基于非线性滤波的卫星导航跟踪环路失锁检测方法 |
CN102185820A (zh) * | 2011-05-09 | 2011-09-14 | 松日数码发展(深圳)有限公司 | 基于无迹卡尔曼变换的ofdm频偏估计方法 |
EP2657647A1 (en) * | 2012-04-23 | 2013-10-30 | Deutsches Zentrum für Luft- und Raumfahrt e. V. | Method for estimating the position and orientation using an inertial measurement unit fixed to a moving pedestrian |
CN103439731A (zh) * | 2013-08-29 | 2013-12-11 | 北京空间飞行器总体设计部 | 基于无迹卡尔曼滤波的gps/ins组合导航方法 |
-
2014
- 2014-02-26 CN CN201410065851.4A patent/CN103776449B/zh not_active Expired - Fee Related
Patent Citations (7)
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EP1903308A2 (en) * | 2006-09-25 | 2008-03-26 | Honeywell International Inc. | Systems and methods for a hybrid state transition matrix |
CN101216319A (zh) * | 2008-01-11 | 2008-07-09 | 南京航空航天大学 | 基于联邦ukf算法的低轨卫星多传感器容错自主导航方法 |
CN101505532A (zh) * | 2009-03-12 | 2009-08-12 | 华南理工大学 | 一种基于分布式处理的无线传感器网络目标跟踪方法 |
CN102176032A (zh) * | 2011-01-13 | 2011-09-07 | 北京航空航天大学 | 一种基于非线性滤波的卫星导航跟踪环路失锁检测方法 |
CN102185820A (zh) * | 2011-05-09 | 2011-09-14 | 松日数码发展(深圳)有限公司 | 基于无迹卡尔曼变换的ofdm频偏估计方法 |
EP2657647A1 (en) * | 2012-04-23 | 2013-10-30 | Deutsches Zentrum für Luft- und Raumfahrt e. V. | Method for estimating the position and orientation using an inertial measurement unit fixed to a moving pedestrian |
CN103439731A (zh) * | 2013-08-29 | 2013-12-11 | 北京空间飞行器总体设计部 | 基于无迹卡尔曼滤波的gps/ins组合导航方法 |
Non-Patent Citations (6)
Title |
---|
MAO YULIANG等: "Scaled UKF with reduced sigma points for initial alignment of SINS", 《THE 30TH CHINESE CONTROL CONFERENCE》 * |
TASADDUQ ABBAS等: "SINS Initial Alignment for Small Tilt and Large Azimuth Misalignment Angles", 《COMMUNICATION SOFTWARE AND NETWORKS ,2011》 * |
WEIWEI YANG等: "Research of Fuzzy Inference based on Simplified UKF for large alignment errors in SINS alignment on a swaying base", 《IEEE INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE》 * |
周峰等: "基于自适应UKF算法的机载INS/GPS空中对准研究", 《***工程与电子技术》 * |
胡迪等: "基于自适应UKF的敏感器故障诊断算法", 《北京航空航天大学学报》 * |
苏宛新: "自适应UKF滤波在SINS初始对准中的应用", 《中国惯性技术学报》 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104344835A (zh) * | 2014-10-28 | 2015-02-11 | 北京理工大学 | 一种基于切换式自适应控制罗经的捷联惯导动基座对准方法 |
CN104344835B (zh) * | 2014-10-28 | 2017-06-16 | 北京理工大学 | 一种基于切换式自适应控制罗经的捷联惯导动基座对准方法 |
CN104613984A (zh) * | 2015-02-06 | 2015-05-13 | 东南大学 | 临近空间飞行器传递对准模型不确定性的鲁棒滤波方法 |
CN104613984B (zh) * | 2015-02-06 | 2018-09-21 | 东南大学 | 临近空间飞行器传递对准模型不确定性的鲁棒滤波方法 |
CN106595705A (zh) * | 2016-11-22 | 2017-04-26 | 北京航天自动控制研究所 | 一种基于gps的飞行中惯性初始基准偏差估计方法 |
CN106595705B (zh) * | 2016-11-22 | 2019-12-20 | 北京航天自动控制研究所 | 一种基于gps的飞行中惯性初始基准偏差估计方法 |
CN106767788A (zh) * | 2017-01-04 | 2017-05-31 | 北京航天自动控制研究所 | 一种组合导航方法和*** |
CN106767788B (zh) * | 2017-01-04 | 2019-07-19 | 北京航天自动控制研究所 | 一种组合导航方法和*** |
CN107990912A (zh) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | 一种抗差自适应滤波动基座传递对准方法 |
CN111912405A (zh) * | 2019-05-10 | 2020-11-10 | 中国人民解放***箭军工程大学 | 一种基于车载惯组与多普勒雷达的组合导航方法及*** |
CN111044049A (zh) * | 2019-12-30 | 2020-04-21 | 东南大学 | 一种用于恶劣海况下无人船对准的改进ukf算法 |
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CN103776449B (zh) | 2016-05-04 |
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Inventor after: Jiang Zhuqing Inventor after: Liu Chonghua Inventor after: Yang Bo Inventor after: Zhang Gong Inventor after: Wang Yupeng Inventor after: Huang Chengkai Inventor after: Wang Xiaohan Inventor before: Liu Chonghua Inventor before: Yang Bo Inventor before: Zhang Gong Inventor before: Jiang Zhuqing Inventor before: Wang Yupeng Inventor before: Huang Chengkai Inventor before: Wang Xiaohan |
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