共查询到19条相似文献,搜索用时 140 毫秒
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在旋翼无人机组合导航中,针对缺乏GPS作为导航信号源的室内飞行环境,为了达到精确定位的目的,提出一种基于SLAM(simultaneous localization and mapping)的旋翼无人机组合导航算法。首先,引入双线性插值算法,实现基于扫描匹配的即时定位与地图构建;其次,对陀螺仪、加速度计和磁罗盘建立捷联惯导系统误差模型,针对旋翼无人机的使用环境对误差模型进行简化;最后,应用联邦卡尔曼滤波算法,设计组合导航系统模型,将SLAM算法和捷联惯导系统估计出的位置数据进行融合。仿真结果表明所设计基于SLAM的旋翼无人机组合导航算法能够进一步提高组合导航系统对旋翼无人机位姿估计的精度。 相似文献
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范项媛 《网络安全技术与应用》2014,(5):5-7
北斗卫星导航系统是中国自行研制的全球卫星定位与通信系统,为促进北斗卫星系统在导航方面的运用,降低我国导航方面对GPS的依靠,从而进一步降低成本,提高无人飞行器的导航精度,本文对捷联式惯性导航系统(INS)和北斗定位导航系统的组合导航算法进行了研究,通过惯性导航系统的原理和导航解算的过程,选择惯导系统和北斗系统的速度、位置差值作为观测量,建立组合导航系统的状态方程和观测方程,利用无迹卡尔曼滤波得到惯导系统状态量和惯性敏感器的误差,对惯导系统进行误差补偿,从而实现无人飞行器的高精度导航控制.并使用Matlab进行仿真,得出高精度的模拟输出轨迹. 相似文献
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在捷联惯导/卫星导航(SINS/GNSS)紧组合导航系统的非线性非高斯高动态模型中,一般K均值粒子群优化(PSO)算法易出现粒子退化、滤波发散等问题。针对上述问题,提出一种融入权值修正的K均值粒子群滤波方法。通过观测SINS/GNSS紧组合导航系统的精度因子(GDOP),来修正粒子权值,从而修正每个K均值的聚类中心的权重,进而优化粒子;并结合SINS/GNSS紧组合导航系统模型进行了仿真分析。结果表明在非线性非高斯高动态的情况下,该改进算法有效地抑制了滤波发散,提高了精度。 相似文献
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无陀螺捷联惯导系统(GFSINS)的角速度解算误差与加速度计测量误差紧密相天,加速度计测量误差会导致整个惯导系统导航参数随时问快速发散.针对这一问题,在传统捷联惯导系统的基础上,基于某种六加速度计配置方式,推导了尢陀螺捷联惯导系统误差方程,利用卡尔曼滤波器组成了GFSINS/GPS组合导航系统.经仿真验证,该组合导航系... 相似文献
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惯性基高精度组合导航方法研究与仿真 总被引:1,自引:1,他引:0
研究了一种基于捷联惯性导航系统(SINS)的高精度组合导航方法;选取SINS的系统误差作为组合导航系统状态,利用天文导航系统(CNS)输出的姿态矩阵和SINS输出信息计算得到的等效姿态矩阵来构造量测,设计SINS/CNS组合导航算法;利用SINS与北斗卫星导航系统(RDSS)各自的位置输出构造量测,设计SINS/RDSS组合导航算法,从而,利用联邦卡尔曼滤波技术设计SINS/CNS/RDSS组合导航算法;仿真结果表明,惯性基SINS/CNS/RDSS组合导航方法具有较高的导航定位精度,工程应用前景良好。 相似文献
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本文简单介绍了高超声速飞行器,并通过分析目前应用较为普遍组合导航方式,提出了采用SINS/GPS/CNS组合导航作为高超声速巡航导弹的中段制导方案.本文采用四元数法进行SINS计算,并运用联邦滤波的方法对组合导航进行了仿真.仿真程序是在轨迹发生器产生高超声速巡航飞行器飞行轨迹及相关参数的基础上进行的,仿真结果表明了高超声速巡航飞行器中制导采用SINS/GPS/CNS组合导航系统的可行性. 相似文献
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The impact of temperature on accelerometer will directly influence the precision of the inertial navigation system(INS).To eliminate the measurement error of accelerometer,this paper proposes a proximal support vector regression(PSVR)algorithm for generating a linear or nonlinear regression which requires the solution to single system of linear equations.PSVR is used to identify the static temperature model of the accelerometer.In order to improve the identifying performance,the kernel parameters and penalty factors of PSVR are optimized by the canonical particle swarm optimization(CPSO).The experiments under different temperature conditions were conducted.The experimental results show that the proposed PSVR can correctly identify the static temperature model of quartz flexure accelerometer and is more efficient than those of the standard SVR and least square algorithm. 相似文献
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MEMS SINS-GPS组合导航系统设计 总被引:3,自引:1,他引:2
为实现满足中低精度要求的低成本导航系统,选用MEMS惯性传感器研制了捷联式惯性导航系统(SINS);针对MEMS惯性传感器噪声较大和惯性导航系统误差随时间迅速累积的问题,利用小波对MEMS陀螺信号进行了降噪处理,并采用SINS-GPS卡尔曼滤波组合导航系统以消除惯导系统的误差累积,输出较高精度的速度、位置信息.对SINS和组合导航系统进行了仿真实验,实验结果表明所建系统的长时间导航性能有一定改善. 相似文献
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光纤陀螺可应用于旋转弹导航上,以提高其精确打击能力。基于光纤陀螺的捷联惯性导航系统是实现这一目的的重要手段之一。其中,姿态更新算法是捷联惯性导航系统的核心。针对旋转弹短时、近程的特点,提出一种基于修正型罗德里格斯参数的全姿态更新算法,并给出适合旋转弹姿态确定的数学模型。仿真结果表明与传统姿态更新算法相比较,新算法可以更有效的抑制不可交换误差,降低跟随时间的累积误差,减少高动态环境下的计算量,提高算法结算的速度和精度。 相似文献
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针对基于高精度光纤陀螺仪(FOG)的捷联惯导系统开展研究.采用时间序列分析法对光纤陀螺随机漂移进行分析,建立自回归滑动平均(ARMA)模型,并在捷联惯导系统罗经法自对准过程中对光纤陀螺漂移数据进行实时滤波估计.样机实验结果表明,所提出的方法可以有效地提高光纤陀螺捷联惯导系统罗经法自对准的精度. 相似文献
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In low-cost micro-electro mechanical system (MEMS)-grade strap-down inertial navigation system (SINS), failure to compensate inertial sensors errors as well as un-modeled uncertainties in SINS could result in exponentially divergence in overall performance of low-cost SINSs. This study deals with the enhancement of low-cost SINS accuracy in combination of global navigation satellite system (GNSS). In this respect, a novel adaptive constrained integrated scheme for SINS/GNSS is developed based on type-2 fuzzy Hammerstein neural network (T2FHNN). To this aim, a gray-box Hammerstein neural network model are defined based on clear interpretation with the physical nature of the inertial sensors error. In addition a knowledge-based type-2 fuzzy programming extracted from inertial sensors data is also used for managing the learning rate of Hammerstein neural networks. Some vehicular real-world tests have been carried out in order to show the effectiveness and feasibility of the proposed integration scheme in the long-term performance and accuracy of the proposed navigation algorithm. The results indicate that the proposed integration algorithm improved the navigation accuracy, reliability and stability in the presence of state constraints of the stand-alone SINS during signal blockage of GNSS. 相似文献
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针对采用低成本惯性元件的MEMS-IMU/GPS组合导航系统在GPS信号长时间失效后系统趋于发散的问题,在研究捷联航姿解算算法、加速计测量姿态角算法和磁传感器解算航向角算法的基础上,提出将航姿辅助修正算法引入组合导航系统中,一旦系统检测到无效信号出现,则能自动切换到辅助修正状态,使导航结果被抑制在0.5°左右;通过半实物仿真实验,证明了该方法能够有效解决GPS信号长时间失效后系统发散问题,满足了在低成本MEMS惯性元件基础上的高精度导航要求。 相似文献
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Young Min Yoo Joon Goo Park Dal Ho Lee Chan Gook Park 《International Journal of Control, Automation and Systems》2012,10(2):298-307
A theoretical method for analyzing the observability of a strapdown inertial navigation system (SDINS) integrated with the
global positioning system (GPS) is proposed. The analysis is performed based on two types of maneuvers for a vehicle on a
horizontal trajectory: level flight with constant north velocity and level flight with constant east velocity. The observability
also is analyzed using the convergence theorem, stationary state observability analysis results, and Kalman filter measurement
information to rearrange the SDINS error model equation. The state variables are divided into observable and unobservable
parts, and determine which state variables are observable and estimable with some errors from the relationship of observable
and unobservable state variables. Our results have shown that the north and east axes accelerometer bias errors were unobservable,
and that attitude errors, and east and down axes gyro bias errors were estimable with some unknown bias errors. It has been
shown that horizontal maneuvering improves the observability of down axis gyro bias error compared with the stationary state,
and the estimation errors of the heading error state and east axis gyro bias error are dependent on the magnitude of north
velocity. The results of the theoretical observability analysis are confirmed through computer simulation. 相似文献