共查询到18条相似文献,搜索用时 187 毫秒
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水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证 总被引:1,自引:0,他引:1
针对水下潜航器惯导系统的定位误差积累和容错性差等问题,分析了水声超短基线的相位差定位方法,推导了基于惯导提供实时位置、姿态误差角信息的惯导/超短基线(INS/USBL)导航解算过程及其坐标转换。结合惯导/多普勒测速(INS/DVL)滤波器,给出INS/USBL/DVL组合导航联邦滤波在3种信息融合算法下的应用。通过MATLAB仿真对导航算法进行了验证,结果表明该导航算法能够抑制惯导系统误差随时间发散的问题,能充分利用了3种导航系统提供的参数信息,且状态维数低,滤波收敛速度快,其中基于精度因子信息分配方法的导航系统误差最小。容错性验证结果显示,当超短基线出现故障时,重构后的组合导航系统在较高航速情况下依旧能提供有效的导航参数。所提出的INS/USBL/DVL组合导航联邦滤波方法能够精确地提供水下潜航器的各位导航参数信息,且具有较高的容错性和稳定性。 相似文献
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对激光惯导系统导航精度提高方法进行了分析,认为旋转调制技术是提高激光惯导系统长航时导航精度的一种有效可行的方法,并对旋转调制技术国外发展现状、技术原理、工程实现方案及关键技术进行了阐述。 相似文献
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《机械制造与自动化》2019,(4):192-195
为提高惯导式自动导引车(AGV)的导航精度,设计了一种改进惯性导航系统。该系统以单片机为核心,将基于差速驱动模型求得的AGV航向角作为状态量,将由惯导单元测量的角度值作为观测量,通过Kalman滤波来优化航向角;同时基于模糊PID算法进行AGV驱动轮的转速控制来提高航向角的控制精度。针对惯导系统易产生的累积误差,设计了磁钉纠偏模块进行有效消除。实验测试结果表明,该系统能够进行偏航角的准确测量和控制,实现了惯导式AGV的精确导航;与常规惯导系统相比,其导航误差平均减少近50%,验证了改进系统的有效性和优越性。 相似文献
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为研究捷联惯导系统短时间导航精度,建立了导航误差数学模型,分析了惯性器件误差对系统导航精度的影响.应用捷联惯性导航原理,针对系统短时间导航的特点,简化了载体在导航坐标系的导航方程;由惯性器件安装误差与陀螺仪等效零漂经过方向余弦矩阵变换建立载体姿态误差方程;结合导航方程、姿态误差方程与惯性器件误差推导出载体速度误差与位置误差数学模型.在此基础上,建立了误差状态空间方程与误差模型框图.在Matlab/Simulink环境下建立了误差数学模型计算模块,用捷联惯导算法与误差模型共同解算地面150 s导航试验数据.结果表明:导航系X轴的相对系统误差<20%,Y轴、Z轴的相对系统误差<4%,验证了误差数学模型的正确性.此外,分析了加速度计精度的变化对短时间工作的捷联惯导系统导航误差产生的基本影响. 相似文献
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捷联惯导系统误差模型与仿真分析 总被引:1,自引:0,他引:1
为研究捷联惯导系统短时间导航精度,建立了导航误差数学模型,分析了惯性器件误差对系统导航精度的影响。应用捷联惯性导航原理,针对系统短时间导航的特点,简化载体在导航坐标系的导航方程;由惯性器件安装误差与陀螺仪等效零漂经过方向余弦矩阵变换建立载体姿态误差方程;结合导航方程、姿态误差方程与惯性器件误差推导出载体速度误差与位置误差数学模型。在此基础上,建立了误差状态空间方程与误差模型框图。在Matlab/Simulink环境下建立了误差数学模型计算模块,用捷联惯导算法与误差模型共同解算地面150秒导航试验数据,结果表明:导航系X轴的相对系统误差小于20%,Y轴、Z轴的相对系统误差小于5%,验证了误差数学模型的正确性。此外,分析了加速度计精度的变化对短时间工作的捷联惯导系统导航误差产生基本的影响。 相似文献
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智能移动机器人能够通过传感器感知环境和自身状态。针对移动机器人变电站巡检的需求,提出了一种基于磁传感器、低精度惯导系统、编码器的机器人导航控制方法。为了校准惯导系统和编码器的积累误差,并标记机器人移动路径,在路径上每隔一段距离设置一个磁钉。在两个磁钉之间根据惯导系统提供的航向控制机器人直行。在磁钉位置,机器人根据磁钉信息校准惯导航向误差及机器人位置误差,并调整机器人航向。该算法所用传感器成本较低,算法简单易行,在工程上易于实现,提高了变电站巡检机器人导航的实时性和定位精度。 相似文献
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由低成本器件组成的卫星/惯性(GPS/INS)组合导航系统中,存在较大的非线性与不确定性,为改善这一问题,本文提出一种引入滑模观测器(SMO)的滤波方法。首先,该方法建立了组合导航系统模型,介绍了扩展卡尔曼滤波(EKF)计算过程并分析存在的不足。然后,介绍了滑模观测器的基本原理,根据系统构建观测器。最后,说明了引入滑模观测器的EKF组合导航算法实现流程,滑模观测器将模型误差、状态估计以及均值方差融入EKF算法,修正系统输出。通过轨迹仿真实验与车载实验验证了所提方法优于传统EKF算法,具有更高的滤波精度。在车载实验中,卫星信号失锁15 s情况下,与EKF方法相比,所提方法的东向位置误差降低了53%,北向位置误差降低了37%,证明该方法能够有效抑制GPS/INS组合导航误差发散,为以后工程实践提供一定的参考价值。 相似文献
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Aiming to improve positioning precision of the GPS/INS integrated navigation system during GPS outages, a novel model combined with strong tracking Kalman filter (STKF) and wavelet neural network (WNN) algorithms for INS errors compensation is proposed and tested. STKF is used to estimate INS errors as a replacement of Kalman filter (KF), and WNN is applied to establish a highly accurate model based on STKF when GPS works well and to predict INS errors during GPS outages. Performance of the proposed model has been experimentally verified using GPS and INS data collected in a land vehicle navigation test. The comparison results indicate that the proposed model combined with STKF/WNN algorithms can effectively provide high accurate corrections to the standalone INS during GPS outages. 相似文献
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运载火箭上面级惯性与天文组合导航系统设计 总被引:3,自引:1,他引:2
针对运载火箭上面级惯性导航随时间累积而误差增大以至不能满足长时间工作要求的问题,对采用星敏感器和地球敏感器修正惯性导航误差的方案进行了研究。首先,导出了上面级常用坐标系定义和姿态转换矩阵。然后,根据惯性导航的误差传播特性、星敏感器测量方程和地球敏感器的模拟测量方程,给出了组合导航的状态方程和观测方程。最后,设计了基于Matlab/dSpace仿真平台的星敏感器在导航回路中的半物理仿真实验。实验结果表明,组合导航使惯性导航位置误差矢量和从1.1719×104m减小到1.0367×103m,速度误差矢量和从11.2827m/s减小到3.6626m/s,姿态误差从0.1°减小到5′,说明了该组合导航方案能够有效修正惯性导航时间累积误差,半实物仿真实验验证了惯性/天文组合导航方案的可行性与正确性。 相似文献
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A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding 总被引:1,自引:0,他引:1
Bong-Su Cho Woo-sung Moon Woo-Jin Seo Kwang-Ryul Baek 《Journal of Mechanical Science and Technology》2011,25(11):2907-2917
Inertial navigation systems (INS) are composed of inertial sensors, such as accelerometers and gyroscopes. An INS updates
its orientation and position automatically; it has an acceptable stability over the short term, however this stability deteriorates
over time. Odometry, used to estimate the position of a mobile robot, employs encoders attached to the robot’s wheels. However,
errors occur caused by the integrative nature of the rotating speed and the slippage between the wheel and the ground. In
this paper, we discuss mobile robot position estimation without using external signals in indoor environments. In order to
achieve optimal solutions, a Kalman filter that estimates the orientation and velocity of mobile robots has been designed.
The proposed system combines INS and odometry and delivers more accurate position information than standalone odometry. 相似文献
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针对在复杂城市环境下卫星导航系统(GNSS)定位定速存在野值,导致GNSS/微惯性(MEMS-INS)组合导航状态参数滤波估计精度恶化,甚至滤波发散的问题,提出了一种抗野值自适应GNSS/MEMS-INS组合导航算法,以提高组合导航精度和可靠性。该算法利用Allan方差分析建立较为精确的MEMS器件噪声模型,有效降低模型异常和状态扰动的影响。同时利用新息序列构造观测异常检验统计量,并根据该统计量构造自适应新息加权因子调节滤波增益矩阵,削弱观测野值对状态估计的不良影响。实验结果表明,该算法能够有效地控制GNSS定位定速异常的影响,具有较强的实时性和容错性。相比于传统算法,车载定位、定速和定姿精度分别提升35.78%、60.19%和82.41%,验证了本文算法的有效性和实用性。 相似文献
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Sang Heon Oh Dong-Hwan Hwang Chansik Park Sang Jeong Lee Se Hwan Kim 《Journal of Mechanical Science and Technology》2005,19(8):1529-1543
Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation
system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance
of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of
the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper
proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the
proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU)
and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation
computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure.
To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test
results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment. 相似文献
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JaeHyung Kim Joon Lyou HwyKuen Kwak 《Journal of Mechanical Science and Technology》2010,24(2):489-496
This paper presents a framework for a GPS/INS/vision-based helicopter navigation system. The conventional GPS/INS algorithm
has weak points such as GPS blockage and jamming, while the helicopter is a speedy and highly dynamic vehicle that may easily
lose a GPS signal. A vision sensor is not affected by signal jamming, and the navigation error of such a system does not accumulate.
Hence, a GPS/INS/vision-aided navigation scheme was implemented to provide the robust localization suitable for helicopter
operations in various environments. The core algorithm is the vision-based SLAM (simultaneous localization and mapping) technique.
Flight tests were performed to verify the SLAM-aided vision navigation algorithm. During the tests, it was confirmed that
the developed system is sufficiently robust under GPS blockage conditions. The system design, software algorithm, and flight
test results are described in this paper. 相似文献
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针对舰载惯导系统在摇摆基座条件下高精度初始对准问题,提出一种简单且易于实现的快速初始对准方法。利用开路法构建数学稳定平台隔离载体摇摆运动,提高了高精度舰载惯导系统摇摆基座对准过程中量测数据的信噪比,缩短了对准时间并提高了误差参数的估计精度;建立了开路法数学平台偏角的误差模型,利用参数辨识法提取相关对准参数,从而估计出陀螺漂移和数学平台偏角并进行补偿。海上试验结果表明,该对准方法可在8 h内达到优于0.000 5°/h的对准精度,有效地解决了摇摆基座条件下舰载惯导系统的高精度初始对准问题。 相似文献