共查询到18条相似文献,搜索用时 125 毫秒
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针对因全球定位系统(GPS)信号失效导致捷联式组合导航系统SINS/GPS组合导航系统发散的问题,设计了一种基于神经网络辅助观测的智能组合导航算法.该方法在GPS信号有效时训练神经网络,当GPS失效后利用神经网络自主重构组合导航系统,将神经网络的输出信息作为观测量构建新的Kalman滤波器,以实现对捷联惯性导航系统误差的连续反馈校正,从而实现了高精度的连续导航.该方法得到了仿真验证,从仿真结果可以看出,在GPS短时失效的情况下,该方法有效抑制了姿态角、速度和位置的发散现象,提高了组合导航系统的精度和可靠性. 相似文献
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SINS/GPS组合导航系统仿真实验 总被引:1,自引:0,他引:1
介绍了SINS/GPS组合导航系统仿真方案,仿真器包括四个模块:航迹模拟器、惯性元件和GPS仿真器、导航解算器和Kalman滤波器。SINS/GPS组合导航系统采用位置和速度组合模式,分别给出了纯SINS、组合导航系统及GPS信号短时间丢失时的位置、速度误差曲线。分析表明组合导航系统精度高于SINS和GPS分别单独工作时的精度。 相似文献
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介绍了舰船组合导航系统的结构、原理、功能,综述了舰船组合导航系统的现状,展望了在21世纪初的30年间舰船组合导航系统的发展趋势及一些相关的技术设想。 相似文献
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《中国新技术新产品》2014,(1)
本文以RT3000惯性\GPS组合导航系统为研究对象,进行了组合导航的技术介绍,介绍了SINS(捷联惯性)/GPS组合导航系统工作原理,采用四元数法进行姿态描述,通过捷联惯性导航计算导航参数,利用卡尔曼滤波进行修正。通过实验发现,在这些技术的支持下,SINS/GPS组合导航系统实现地面车辆的精确导航。 相似文献
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基于计算智能和信息熵的故障组合预测研究 总被引:2,自引:0,他引:2
针对单项预测方法鲁棒性弱和稳定性差的不足,研究了一种基于计算智能和信息熵的故障组合预测方法.利用粗糙集、遗传算法、免疫算法改进基本神经网络的神经元结构、权重计算方法和隐含层激励函数,构造了融合各项算法特长的计算智能方法,实现了电子设备特征参数的退化趋势预测;基于信息熵理论,采用多准则评价对前述单项预测方法进行融合,实现了电子设备的故障组合预测.通过跟踪预测实际环境中的设备工作数据,验证了基于计算智能预测的有效性和基于信息熵组合预测的稳定性. 相似文献
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本文提出一种利用三轴加速度传感器ML8953,在城市GPS信号盲区中,辅助GPS导航系统实现城市车辆定位的方法。基于这种定位技术的组合车载导航系统由于可以在低成本下实现无GPS盲区车辆定位,将具有很强的市场竞争力。 相似文献
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《测试技术学报》2016,(2)
近年来INS/GNSS组合导航系统的理论研究已趋于成熟,但是对于理论研究的结果却难于验证.利用高精度的三轴转台完成INS/GNSS组合导航系统半实物仿真试验,对组合导航系统研究的理论与应用具有重要的意义.采用高速的PCI接口,基于已有的GNSS模拟器、高精度三轴转台搭建GNSS/IMU组合导航闭环仿真测试系统,以数字信号处理器(DSP)和现场可编程门阵列(FPGA)作输入输出接口处理机,二者以外部存储器(EMIF)接口相联,并采用大容量SDRAM作为存储单元,处理速度快,满足了组合导航半实物仿真系统对主控计算机在数据吞吐和处理能力以及体积、重量、功耗诸方面的要求.介绍了INS/GNSS组合导航系统的基本构成及其研制思路、构成和半实物仿真系统的工作流程,并给出了INS/GNSS组合导航系统的实验结果. 相似文献
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Lazarus S.B. Ashokaraj I. Tsourdos A. Zbikowski R. Silson P.M.G. Aouf N. White B.A. 《IEEE sensors journal》2007,7(9):1302-1314
Achieving an innovative integrated sensor fusion architecture with a robust vehicle navigation and localization using an extended Kalman filter, interval analysis and covariance intersection that can overcome the uncertainty in the system model and sensor noise statistics. There are various approaches to the problem, but here the focus is on an approach which can guaranteed performance of sensor-based navigation. The guaranteed performance is quantified by explicit bounds of position estimate of a ground vehicle. Ground vehicles generally carry dead reckoning sensors such as wheel encoders and inertial sensors, to measure acceleration and angle rate, while obstacle detection and mapmaking is done with time-of-flight ultrasonic sensors. Most of these sensors give overlapping or complementary information and sometimes are redundant as well, which offers scope for exploiting data fusion. The purpose here is to achieve data fusion for ground vehicles with low-cost sensors by forming an intelligent sensor system. This is accomplished by combining the sensors' measurements and processing these measurements with data fusion algorithms. The algorithms are complementary in the sense that they compensate for each other's limitations, so that the resulting performance of the sensor system is better than its individual components. 相似文献
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介绍了一种基于MEMS陀螺和石英挠性加速度计的低成本捷联惯性导航系统的设计与实现方法。给出了惯性测量单元(IMU)的模型方程,并在全温下对IMU的输出进行补偿;采用"四元数"法进行姿态计算,通过坐标变换、积分运算确定载体的速度、位置;对惯测样机进行了60 s的静态测试,结果表明该系统短期准确度满足SINS/GPS组合导航系统需求。 相似文献
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GPS民间应用的一个最大市场——汽车导航系统 总被引:4,自引:0,他引:4
汽车导航系统是解决城市交通拥堵的一种高科技手段,是21世纪智能交通(ITS)的发展方向。我们应跳出“要致富先修路”的单纯想法,用科学的方法减少占用可耕地,促进汽车工业的发展。章着重介绍了汽车导航系统的结构与工作原理,提出了三重精度的工程方案,其市场前景广阔。 相似文献
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Strapdown non-exchangeable error compensation technology in high dynamic
environment is one of the key technologies of strapdown inertial navigation system.
Mathematical platform is used in strapdown inertial navigation system instead of physical
platform in traditional platform inertial navigation system, which improves reliability and
reduces cost and volume of system. The maximum error source of attitude matrix
solution is the non-exchangeable error of rotation due to the non-exchangeable of finite
rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in
coning motion, although it can be reduced by shortening the correction period and
increasing the real-time calculation. The equivalent rotation vector method is used to
modify the attitude to reduce the coning error in this paper. Simulation experiments show
that the equivalent rotation vector method can effectively suppress the non-exchangeable
error and improve the accuracy of attitude calculation. 相似文献
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本文提出一种基于“事件”的集成质量系统的构建方法,本方法从质量“事件”入手探讨集成质量系统的体系结构及运行机理。 相似文献
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Distributed data fusion algorithms for inertial network systems 总被引:1,自引:0,他引:1
New approaches to the development of data fusion algorithms for inertial network systems are described. The aim of this development is to increase the accuracy of estimates of inertial state vectors in all the network nodes, including the navigation states, and also to improve the fault tolerance of inertial network systems. An analysis of distributed inertial sensing models is presented and new distributed data fusion algorithms are developed for inertial network systems. The distributed data fusion algorithm comprises two steps: inertial measurement fusion and state fusion. The inertial measurement fusion allows each node to assimilate all the inertial measurements from an inertial network system, which can improve the performance of inertial sensor failure detection and isolation algorithms by providing more information. The state fusion further increases the accuracy and enhances the integrity of the local inertial states and navigation state estimates. The simulation results show that the two-step fusion procedure overcomes the disadvantages of traditional inertial sensor alignment procedures. The slave inertial nodes can be accurately aligned to the master node. 相似文献