CN114577204B - 基于神经网络的捷联惯导***抗干扰自对准方法和装置 - Google Patents
基于神经网络的捷联惯导***抗干扰自对准方法和装置 Download PDFInfo
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- CN114577204B CN114577204B CN202210122838.2A CN202210122838A CN114577204B CN 114577204 B CN114577204 B CN 114577204B CN 202210122838 A CN202210122838 A CN 202210122838A CN 114577204 B CN114577204 B CN 114577204B
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000013528 artificial neural network Methods 0.000 title claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims abstract description 89
- 230000007613 environmental effect Effects 0.000 claims abstract description 69
- 238000012937 correction Methods 0.000 claims abstract description 43
- 238000003062 neural network model Methods 0.000 claims abstract description 36
- 238000012549 training Methods 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims description 13
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- 230000006403 short-term memory Effects 0.000 claims description 2
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Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
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- Artificial Intelligence (AREA)
- Software Systems (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
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CN202210122838.2A CN114577204B (zh) | 2022-02-09 | 2022-02-09 | 基于神经网络的捷联惯导***抗干扰自对准方法和装置 |
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Citations (9)
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WO2013059989A1 (zh) * | 2011-10-25 | 2013-05-02 | 国防科学技术大学 | 一种惯性导航***的运动对准方法 |
CN106123921A (zh) * | 2016-07-10 | 2016-11-16 | 北京工业大学 | 动态干扰条件下捷联惯导***的纬度未知自对准方法 |
CN110044378A (zh) * | 2019-04-17 | 2019-07-23 | 河海大学 | 一种用于水下深潜器的光纤捷联惯性导航高精度定位***及方法 |
WO2020087845A1 (zh) * | 2018-10-30 | 2020-05-07 | 东南大学 | 基于gpr与改进的srckf的sins初始对准方法 |
CN112113566A (zh) * | 2020-09-24 | 2020-12-22 | 电子科技大学 | 一种基于神经网络的惯性导航数据修正方法 |
CN112346454A (zh) * | 2020-10-28 | 2021-02-09 | 博康智能信息技术有限公司 | 基于神经网络的无人船控制方法及其*** |
US11046430B1 (en) * | 2017-04-17 | 2021-06-29 | United States Of America As Represented By The Administrator Of Nasa | Intelligent trajectory adviser system for unmanned aerial vehicles in complex environments |
CN113099381A (zh) * | 2021-04-06 | 2021-07-09 | 苏州迭慧智能科技有限公司 | 一种天线工参智能感知仪及多功能智能感知网 |
CN113984043A (zh) * | 2021-09-14 | 2022-01-28 | 哈尔滨工程大学 | 一种矿用惯导***的动态误差修正方法 |
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US7647284B2 (en) * | 2007-01-12 | 2010-01-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Fixed-weight recurrent neural network controller with fixed long-term and adaptive short-term memory |
US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
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2022
- 2022-02-09 CN CN202210122838.2A patent/CN114577204B/zh active Active
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WO2013059989A1 (zh) * | 2011-10-25 | 2013-05-02 | 国防科学技术大学 | 一种惯性导航***的运动对准方法 |
CN106123921A (zh) * | 2016-07-10 | 2016-11-16 | 北京工业大学 | 动态干扰条件下捷联惯导***的纬度未知自对准方法 |
US11046430B1 (en) * | 2017-04-17 | 2021-06-29 | United States Of America As Represented By The Administrator Of Nasa | Intelligent trajectory adviser system for unmanned aerial vehicles in complex environments |
WO2020087845A1 (zh) * | 2018-10-30 | 2020-05-07 | 东南大学 | 基于gpr与改进的srckf的sins初始对准方法 |
CN110044378A (zh) * | 2019-04-17 | 2019-07-23 | 河海大学 | 一种用于水下深潜器的光纤捷联惯性导航高精度定位***及方法 |
CN112113566A (zh) * | 2020-09-24 | 2020-12-22 | 电子科技大学 | 一种基于神经网络的惯性导航数据修正方法 |
CN112346454A (zh) * | 2020-10-28 | 2021-02-09 | 博康智能信息技术有限公司 | 基于神经网络的无人船控制方法及其*** |
CN113099381A (zh) * | 2021-04-06 | 2021-07-09 | 苏州迭慧智能科技有限公司 | 一种天线工参智能感知仪及多功能智能感知网 |
CN113984043A (zh) * | 2021-09-14 | 2022-01-28 | 哈尔滨工程大学 | 一种矿用惯导***的动态误差修正方法 |
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