CN108303081A - A kind of bionical polarization/inertia/atmosphere data integrated navigation system - Google Patents
A kind of bionical polarization/inertia/atmosphere data integrated navigation system Download PDFInfo
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- CN108303081A CN108303081A CN201711475123.0A CN201711475123A CN108303081A CN 108303081 A CN108303081 A CN 108303081A CN 201711475123 A CN201711475123 A CN 201711475123A CN 108303081 A CN108303081 A CN 108303081A
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention relates to a kind of bionical polarization/inertia/atmosphere data integrated navigation systems, including navigation sensor, resolving module, interface circuit, microprocessor, memory module and power module.Sensor is made of bionical polarization sensor, Inertial Measurement Unit and air data system.Wherein, bionical polarization sensor includes the components such as optical camera, motor and polarizer；Air data system is made of pitot-static pressure sensor, pitot-static pressure pipeline and total circuit temperature.Workflow is, sensor assembly acquires the data such as polarization optical information, air static pressure, total head in atmospheric environment, transfer data to resolving module, processor judge sensor whether reliably working, select operating mode, the information such as course angle, true air speed, height are calculated, posture, the speed of compensation correction navigation system is used for, stores and export navigational parameter.The present invention has many advantages, such as that navigation pattern is flexible, independence is strong, small, has the function of AF panel, fault detect and system reconfiguration.
Description
Technical field
The present invention relates to the technical fields of integrated navigation, and in particular to a kind of bionical polarization/inertia/atmosphere data combination is led
Boat system.
Background technology
Navigation is the physical quantitys such as position, speed, the posture for measuring and estimating carrier and movable body to guide equipment from one
Point reaches the technology of target point.Integrated navigation utilizes the information source of a variety of navigation sensors, complements each other, and constituting has redundance
And the higher multifunction system of navigation accuracy, it is one of cutting edge technology and major fields of current national science and technology development.Inertia/
Combinations of satellites (INS/GNSS) airmanship is the integrated navigation mode being most widely used at present.However, GNSS satellite is navigated
Signal is vulnerable to broadcasting station, linking up station, radar station even electromagnetic interferences, the electronics such as human interference and the particular surroundings such as deceives
It influences and can not work so that its data continuity is difficult to be guaranteed, and frequency band is relatively narrow, volatile in the high motion of automobile of body
Lock.This problem has become aircraft, robot navigation field with aircraft, the gradual increase of robot manipulating task range
Pinch technology.Inertial navigation has the advantage independently resolved, and independence is stronger with anti-interference, and navigational parameter is complete, can be defeated
The navigational parameters such as out position, speed, course, posture, but its error can accumulate at any time, and long precision is low.To reduce to defending
The dependence of star navigation, improves the precision of inertial navigation, there is an urgent need to design one kind not depending on satellite navigation information, has height
Independence, anti-interference ability and high-precision full independent combined navigation system.
Bionical polarization airmanship is the simulation and study of the navigation and stationkeeping ability to animal, have independence it is strong, can
By property, strong, error does not accumulate, has the characteristics that stronger environmental suitability at any time, is compensation, correction inertial navigation system appearance
The powerful technique means of state measurement error.Bionical polarotactic navigation mode is determined using the aerial atmospheric polarization light distribution pattern in day
The course angle of carrier is a kind of novel independent navigation mode.Bionical polarization navigation mode has compatible with inertial navigation system mutual
The characteristic of benefit has become the emerging research hotspot of integrated navigation field.
In view of the bionical polarization sensor based on image symmetrical axis has stronger environmental suitability in this system, by
Air data system and inertial navigation system combination, ensure navigation system normal work, enhance navigation system reliability and
Environmental suitability.
Bionical polarization navigation at this stage is only used for determining and correcting the posture of system, and inertial navigation system is in independence
When operation can the larger deviation of accelerated accumulation, precision is decreased obviously, it is difficult in the case of not reliable satellite navigation signals into
Row high-precision, full autonomous positioning.
Air data system is made of pitot-static pressure sensor, pitot-static pressure pipeline, total circuit temperature and air data computer.It is logical
It crosses the total head being collected into pitot-static pressure sensor and pitot-static pressure pipeline and static pressure and carries out navigation calculation with total temperature, it is important to obtain aircraft
Navigational parameter such as height, true air speed, lifting speed, be common navigation sensor on aircraft.The present invention designs basis
Established Wind speed model and air data system gathered data real-time resolving east orientation ground velocity, north orientation ground velocity, true air speed, height and liter
Velocity information is dropped, is the effective means for assisting and correcting the information such as height, speed in inertial navigation, can also independently obtain speed
Degree, elevation information.
Chinese patent application " a kind of Combinated navigation method based on polarization information ", application publication number CN106767752A will
Polarization information is applied in integrated navigation system, is navigated using polarization and is corrected the attitude error of integrated navigation system.But it should
Technology can not correct the speed of inertial navigation system, height error, and it is fast not solve inertial navigation system speed, altitude information
The problem of speed diverging, Real-Time Positioning is unable to get guarantee.Chinese patent application " a kind of embedded air data system with it is used
The data fusion method of property navigation system ", application publication number CN105066994A is melted using atmosphere data and inertial navigation data
Output is closed, sky polarization information is not utilized, attitude angle information can not be obtained in high precision, and without intelligent mode handoff functionality, number
It is difficult to be guaranteed according to reliability and environmental suitability.It there is no report by air data system at present, bionical polarization navigates and is used to
Property guiding combination design full independent combined navigation system.Air data system can be with inertial navigation, bionical polarization navigation group
It closes, effectively promotes the precision and convergence rate of the navigational parameters such as integrated navigation system speed, height, it can also be with inertia or polarization
Sensor is respectively independently combinable, realizes that land and air navigation path resolves and positioning in real time.In conclusion the system meets
The synergism transcendent function of integrated navigation system, complementary function, remaining function, with intelligent, independence is strong, environmental suitability is strong
The characteristics of.
The present invention relates to a kind of bionical polarization/inertia/atmosphere data integrated navigation systems, and integrated navigation system is by image-type
Bionical polarization sensor, inertial navigation system and air data system composition.Lower normal work includes three kinds of navigation patterns, pattern one：
Under normal operating conditions, pattern match is carried out using polarization navigation, air data system and inertial navigation, realized bionical inclined
Shake/inertia/air independent navigation；Pattern two：It is disturbed or is difficult to obtain in polarization signal, utilize air assisting navigation
Pattern match is carried out with inertial navigation, carries out inertia/air integrated navigation.Pattern three：It, can not when inertial navigation information breaks down
Inertial navigation information is relied on, speed, the height that the course angle information and air data system provided by polarization sensor provides are believed
Breath carries out pattern match, and path integral is independent to resolve location information.This system can export the speed, height, posture of carrier in real time
Equal navigation informations and real-time positioning information are suitable for the posture determination and positioning in real time of unmanned plane.
Invention content
The technical problem to be solved in the present invention is：The shortcomings of overcoming relatively low single navigation system precision, poor anti jamming capability,
Pattern match is carried out using polarization navigation, air data system and inertial navigation, it is certainly leading to carry out bionical polarization/air/inertia
Boat；It is disturbed or is difficult to obtain in polarization signal, pattern match is carried out using air assisting navigation and inertial navigation, into
Row air auxiliary/inertia independent navigation；When not depending on inertial navigation information, the course angle information that provided by polarization sensor and big
The speed of gas data system offer, elevation information carry out pattern match, and path integral is independent to resolve location information, realizes environment
Adaptable multi-mode independent combined navigation overcomes single navigation means essence with bionics and the principle of integrated navigation
Degree and the not high disadvantage of reliability.
The technical solution adopted by the present invention is：A kind of bionical polarization/inertia/atmosphere data integrated navigation system, including group
Close sensor assembly, navigation calculation module, interface circuit, microprocessor, memory module and power module, wherein combination passes
Sensor module includes polarization sensor, inertial navigation system and the air being made of static pressure transducer, total-pressure probe and total circuit temperature
Data system；Navigation calculation module includes pressure transmitter, and the RS232 of the RS232 interface of pressure transmitter, total circuit temperature connects
Mouth, the RS422 interfaces of inertial navigation system, the RS422 interfaces of polarization sensor, electrical level transferring chip, inertial reference calculation ARM chips and figure
As formula polarizes navigation calculation dsp chip；Interface circuit includes PWM interfaces, Sbus interfaces and remote control module interface RS232；Interface
In circuit, PWM interfaces and Sbus interfaces are connect by isolator and phase inverter with microprocessor respectively, the remote control of remote control module interface
Module interface RS232 is connect by electrical level transferring chip with microprocessor；Power module provides stabilized power source for microprocessor；It is used
Guiding systems send measurement data to ARM chips by the RS422 interfaces of inertial navigation system and carry out self detection and navigation calculation, will
As a result it is output to microprocessor；Air data system passes through pressure transmitter, the RS232 interface and total temperature of pressure transmitter respectively
Measurement data will be output to microprocessor by the RS232 interface of circuit, carry out self detection and navigation calculation.Polarization sensor is logical
The RS422 interface and electrical level transferring chip for crossing polarization sensor are connected with image-type polarization navigation calculation dsp chip, carry out certainly
I detects, image procossing and navigation calculation, and is output to microprocessor；The storage of all data is arrived memory module by microprocessor
In FLASH chip and sdram memory.
Wherein, navigation calculation mould inertial navigation in the block resolves ARM chips and image-type polarization navigation calculation dsp chip tool
Have self detecting function, can by detect input data range and stability, judge respective sensor working condition and
The reliability of its navigation data, and export to microprocessor, automatically switch navigation pattern；It is disturbed in polarization signal,
Pattern match is carried out using polarization navigation, air data system and inertial navigation, carries out bionical polarization/air data system/used
Property independent navigation；It is disturbed or is difficult to obtain in polarization signal, mould is carried out using air data system and inertial navigation
Formula matches, and realizes air data system/inertia independent navigation；When not depending on inertial navigation information, provided by polarization sensor
The speed that course angle information and air data system provide, elevation information carries out pattern match, independent to resolve location information；
Wherein, the power module is made of lithium battery and power conversion chip, and the output voltage of lithium battery can be by electricity
Source conversion chip is converted into tri- kinds of different voltages of 3.3V, 4.2V, 5V, meets the needs of system is to different voltages；The PWM connects
Interface, wherein PWM interfaces are drawn No. six timers of microprocessor by isolator in order to control for mouth and Sbus interfaces, to
Export six tunnel PWM waves control signals, Sbus interfaces are connected by phase inverter with the input terminal of serial ports all the way of microprocessor, can other than
Remote-control receiver is connect to receive telecommand, realizes wireless remote manipulation；The microprocessor includes that integrated navigation information is melted
Close ARM chips；The memory module is made of a piece of FLASH chip and SDRAM module, it can be achieved that navigation calculation data
Massive store；The string all the way that the serial interface remote control module interface RS232 passes through electrical level transferring chip and microprocessor
Mouth is connected, and can be communicated with host computer, carries out program debugging, update work；Integrated navigation information merges ARM chips to be led by receiving
Boat resolves the signal that chip transmits, and the information of intelligent switching combining navigation system merges operating mode；Pattern one：In normal operation
In the case of, pattern match is carried out using polarization navigation, air data system and inertial navigation, carries out bionical polarization/air/inertia
Independent navigation；Pattern two：Be disturbed or be difficult to obtain in polarization signal, using air assisting navigation and inertial navigation into
Row pattern match carries out air auxiliary/inertia independent navigation；Pattern three：When inertial navigation system breaks down, can not depend on
Inertial navigation information, by polarization sensor provide course angle information and air data system provide speed, elevation information into
Row pattern match, it is independent to resolve location information.
The advantages of the present invention over the prior art are that：
(1) the GNSS/INS integrated navigation systems of more traditional single navigation system or routine, present invention utilizes big
The environmental information that gas data system and the bionical polarized systems of image-type provide, has a variety of navigation patterns, can be in all sensings
High-precision integrated navigation information is provided when device data are in confidence band, and is entered in the case where there is sensor signal to be disturbed
Polarization-inertia or the full independent navigation pattern of air-polarization have higher independence, reliability, environmental suitability.
(2) letters such as the course angle information provided by polarization sensor and the true air speed, the height that are provided by air data system
Breath can be used as redundancy and effectively improve integrated navigation system precision with inertial navigation, send out the accumulation of inertial navigation error
It dissipates and realizes effective correction.
(3) embedded design that the present invention uses small volume and is easily installed, data-handling capacity are strong.Selected biography
Sensor is high-accuracy digital signal output transducer, and since A/D links are removed, the delay of system processing substantially reduces, and is
System stability is improved.
(4) present invention, can be according to the real-time of carrier as a novel compositions navigation system with a variety of navigation patterns
Navigation (posture and positioning) information and remote signal send out control instruction to carrier.
Description of the drawings
Fig. 1 is the integrated navigation data structure diagram of the present invention；
Fig. 2 is the structure composition block diagram of the present invention；
Fig. 3 is the principle flow chart of operating mode one of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific implementation mode further illustrates the present invention.
As shown in Fig. 2, for the structure composition block diagram of the present invention, i.e., a kind of bionical polarization of multi-mode/atmosphere data combination is led
Boat system.A kind of bionical polarization/inertia/atmosphere data integrated navigation system of the present invention includes sensor assembly 15, navigation calculation
Module 30, interface circuit 11, microprocessor 1, memory module 3 and power module 5.Wherein, sensor assembly 15 includes polarization
Sensor 21, inertial navigation system 20 and the atmosphere data system being made of static pressure transducer 17, total-pressure probe 18 and total circuit temperature 19
System 16, navigation calculation module 30 include pressure transmitter 22, the RS232 interface 27 of pressure transmitter, and the RS232 of total circuit temperature connects
Mouth 23, the RS422 interfaces 24 of inertial navigation system, the RS422 interfaces 25 of polarization sensor, electrical level transferring chip 26, inertial reference calculation ARM
Chip 28 and image-type polarization navigation calculation dsp chip 29, interface circuit 11 include PWM interfaces 12, Sbus interfaces 13 and remote control
Module interface RS23214.In interface circuit, PWM interfaces 12 and Sbus interfaces 13 respectively by isolator 8 and phase inverter 9 with it is micro-
Processor 1 connects, and remote control module interface remote control module interface RS23214 is connect by electrical level transferring chip 10 with microprocessor 1.
Power module 5 is that microprocessor 1 provides stabilized power source.Inertial navigation system 20 will measure number by the RS422 interfaces 24 of inertial navigation system
Self detection and navigation calculation are carried out according to ARM chips 28 are sent to, result is output to microprocessor 1.Air data system 16
Number will will be measured by pressure transmitter 22, the RS232 interface 27 of pressure transmitter and the RS232 interface 23 of total circuit temperature respectively
According to microprocessor 1 is output to, self detection and navigation calculation are carried out.Polarization sensor 21 is connect by the RS422 of polarization sensor
Mouth 25 and electrical level transferring chip 26 are connected with image-type polarization navigation calculation dsp chip 29, carry out self detection, image procossing
And navigation calculation, and it is output to microprocessor 1.Microprocessor 1 by all data store to memory module 3 FLASH chip 4 and
On sdram memory 5.
As shown in Figure 1, for the integrated navigation data structure diagram of operating mode one of the present invention.Include inertia on hardware composition
Navigation system (INS), air data system (ADS) and polarization navigation system (POL) form, INS can with output speed, posture,
Course and location information can export navigation and location information；Air data system exports the information such as true air speed and height, polarization
Navigation system exports course angle information, and INS can combine to form INS/ADS integrated navigation systems with ADS, realizes speed and height
Accurate output；POL can assist INS corrected courses angle, and combine and form INS/POL integrated navigation systems.In software algorithm
On using Kalman filtering method, Kalman filtering includes time update and measurement updaue, and the time, update was primarily directed to being
System state, the here introducing of not new measurement information, measurement updaue then introduce air data system information and the information of INS
Realize the correction of speed and height, while course angle of the introducing of polarization information for correcting inertial navigation system, and will estimation
Navigational parameter pass through feedback compensation inertial navigation system.
As shown in figure 3, giving the principle flow chart of operating mode one of the present invention.After system starts, power module
It powers on, and system is initialized.At this time system be full independent combined navigation system, inertial navigation system, air data system and
These three sensors of polarization sensor start simultaneously at gathered data.The wherein data of inertial navigation system acquisition gyro, accelerometer, greatly
Airspeed-indicator and barometer in gas information system acquire real-time total temperature, stagnation pressure and static pressure information, polarization sensor and pass through polarizer
Part acquires the image on camera.These data are sent to navigation calculation module by interface circuit.
After receiving metric data, navigation calculation module carries out self detection first, by the range of input data and
Stability judges the working condition of respective sensor and its reliability of navigation data, and exports to microprocessor, automatically switches
Navigation pattern.In no external disturbance, pattern match is carried out using polarization navigation, air data system and inertial navigation,
Carry out bionical polarization/air/inertia independent navigation；It is disturbed or is difficult to obtain in polarization signal, be assisted using air
Navigation carries out pattern match with inertial navigation, carries out air auxiliary/inertia independent navigation；When not depending on inertial navigation information, by
The speed that the course angle information and air data system that polarization sensor provides provide, elevation information carries out pattern match, independent
Resolve location information.
After determining pattern, navigation calculation is carried out, resolves to obtain true air speed, height, liter by stagnation pressure, static pressure and total temperature information
The information such as reduction of speed degree, and calculation of wind speed model obtains ground velocity information in real time, and east orientation, north orientation ground velocity letter are resolved by attitude angle information
Breath.The attitude angle information that the true air speed that microprocessor measures air data system, elevation information and polarization sensor measure is made
The output of inertial navigation system is corrected in the form of loose coupling for redundancy auxiliary information, stores final speed, relative position, appearance
State navigation information, and be that carrier or executing agency send out control instruction according to obtained navigation information.
Claims (3)
1. a kind of bionical polarization/inertia/atmosphere data integrated navigation system, it is characterised in that：Including combination sensor module
(15), navigation calculation module (30), interface circuit (11), microprocessor (1), memory module (3) and power module (5),
In, combination sensor module (15) includes polarization sensor (21), inertial navigation system (20) and is passed by static pressure transducer (17), stagnation pressure
The air data system (16) of sensor (18) and total circuit temperature (19) composition；Navigation calculation module (30) includes pressure transmitter
(22), the RS232 interface (27) of pressure transmitter, the RS232 interface (23) of total circuit temperature, the RS422 interfaces of inertial navigation system
(24), the RS422 interfaces (25) of polarization sensor, electrical level transferring chip (26), inertial reference calculation ARM chips (28) and image-type are inclined
Shake navigation calculation dsp chip (29)；Interface circuit (11) includes PWM interfaces (12), Sbus interfaces (13) and remote control module interface
RS232(14)；In interface circuit, PWM interfaces (12) and Sbus interfaces (13) respectively by isolator (8) and phase inverter (9) with
Microprocessor (1) connects, and remote control module interface remote control module interface RS232 (14) passes through electrical level transferring chip (10) and microprocessor
Device (1) connects；Power module (5) is that microprocessor (1) provides stabilized power source；Inertial navigation system (20) passes through inertial navigation system
RS422 interfaces (24) send measurement data to ARM chips (28) and carry out self detection and navigation calculation, result are output to micro-
Processor (1)；Air data system (16) respectively by pressure transmitter (22), the RS232 interface (27) of pressure transmitter and
Measurement data will be output to microprocessor (1) by the RS232 interface (23) of total circuit temperature, carry out self detection and navigation calculation；
Polarization sensor (21) is led by the RS422 interfaces (25) and electrical level transferring chip (26) of polarization sensor with image-type polarization
Boat resolves dsp chip (29) and is connected, and carries out self detection, image procossing and navigation calculation, and be output to microprocessor (1)；It is micro-
Processor (1) stores all data onto the FLASH chip (4) of memory module (3) and sdram memory (5).
2. bionical polarization/inertia/atmosphere data integrated navigation system according to claim 1, it is characterised in that：Navigational solution
It calculates the inertial navigation in module (30) and resolves ARM chips (28) and image-type polarization navigation calculation dsp chip (29) with self
Detection function can judge working condition and its navigation of respective sensor by the range and stability of detection input data
The reliability of data, and export to microprocessor (1), automatically switch navigation pattern；It is interference-free in polarization signal, profit
Pattern match is carried out with polarization navigation, air data system and inertial navigation, carries out bionical polarization/air data system/inertia
Independent navigation；It is disturbed or is difficult to obtain in polarization signal, pattern is carried out using air data system and inertial navigation
Air data system/inertia independent navigation is realized in matching；When not depending on inertial navigation information, by the boat of polarization sensor offer
The speed provided to angle information and air data system, elevation information carry out pattern match, and path integral is independent to resolve position letter
Breath.
3. a kind of bionical polarization/inertia/atmosphere data integrated navigation system according to claim 1, it is characterised in that：Institute
The power module (5) stated is made of lithium battery (7) and power conversion chip (6), and the output voltage of lithium battery (7) can be turned by power supply
It changes chip (6) and is converted into tri- kinds of different voltages of 3.3V, 4.2V, 5V, meet the needs of system is to different voltages；The PWM connects
Mouthful (12) and Sbus interfaces (13) interface in order to control, wherein PWM interfaces (12) are by isolator (8), by the six of microprocessor (1)
Road timer is drawn, and to which six tunnel PWM wave of output controls signal, Sbus interfaces (13) pass through phase inverter (9) and microprocessor (1)
The input terminal of serial ports all the way be connected, telecommand can be received with external remote-control receiver, realize wireless remote manipulation；Described
Microprocessor (1) includes integrated navigation information fusion ARM chips (2)；The memory module (3) is by a piece of FLASH chip (4)
And SDRAM module (31) constitutes the massive store, it can be achieved that navigation calculation data；The serial interface remote control module connects
Mouth RS232 (14) is connected by electrical level transferring chip (10) with the serial ports all the way of microprocessor (1), can be communicated with host computer, into
Line program debugging, update work；Integrated navigation information merges the signal that ARM chips (2) are transmitted by receiving navigation calculation chip,
The information of intelligent switching combining navigation system merges operating mode；Pattern one：Under normal operating conditions, navigated using polarization,
Air data system carries out pattern match with inertial navigation, carries out bionical polarization/air/inertia independent navigation；Pattern two：Inclined
The signal that shakes is disturbed or is difficult in the case of obtaining, and is carried out pattern match using air assisting navigation and inertial navigation, is carried out air
Auxiliary/inertia independent navigation；Pattern three：When inertial navigation system breaks down, inertial navigation information can not be depended on, by polarizing
Speed, the elevation information progress pattern match for course angle information and the air data system offer that sensor provides, path integral,
It is independent to resolve location information.
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Cited By (13)
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| CN109471433A (en) * | 2018-11-09 | 2019-03-15 | 北京航空航天大学 | A kind of course and attitude reference system based on polarization compass |
| CN110672130A (en) * | 2019-11-19 | 2020-01-10 | 北方工业大学 | EKF (extended Kalman filter) alignment method of inertial/polarized light integrated navigation system under large misalignment angle |
| CN110672131A (en) * | 2019-11-19 | 2020-01-10 | 北方工业大学 | UKF (unscented Kalman Filter) alignment method for inertial/polarized light integrated navigation system under large misalignment angle |
| CN110779514A (en) * | 2019-10-28 | 2020-02-11 | 北京信息科技大学 | Hierarchical Kalman fusion method and device for auxiliary attitude determination of bionic polarization navigation |
| CN111337029A (en) * | 2020-01-10 | 2020-06-26 | 中北大学 | Polarized light inertia tight combination navigation method based on self-learning multi-rate residual error correction |
| CN111504312A (en) * | 2020-07-02 | 2020-08-07 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle pose estimation method based on visual inertial polarized light fusion |
| CN112020910A (en) * | 2020-07-31 | 2020-12-04 | 华友天宇科技（武汉)股份有限公司 | Unmanned boat tractor and rotary tillage system |
| CN112783206A (en) * | 2020-12-31 | 2021-05-11 | 广州极飞科技股份有限公司 | Spraying control method and device, aircraft and storage medium |
| CN114018264A (en) * | 2021-10-28 | 2022-02-08 | 北京信息科技大学 | Chip for navigation |
| CN114234910A (en) * | 2021-12-08 | 2022-03-25 | 南京航空航天大学 | Inertia and ADS height fusion method based on air pressure reference self-adaptive correction |
| CN115855064A (en) * | 2023-02-15 | 2023-03-28 | 成都理工大学工程技术学院 | Indoor pedestrian positioning fusion method based on IMU multi-sensor fusion |
| CN117251942A (en) * | 2023-11-17 | 2023-12-19 | 成都凯天电子股份有限公司 | Method and system for estimating airspeed, attack angle and sideslip angle of aircraft |
| WO2024109002A1 (en) * | 2022-11-24 | 2024-05-30 | 东南大学 | Bionic-vision multi-source-information unmanned intelligent sensing platform |
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