Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect

In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS’s antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter’s prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter’s update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.     

水下结构物修复用先进机械手软硬件关键技术综述

机器人进行水下结构物维修时,不仅处于非结构化环境,而且存在浮游碰撞危险,作业区域可达性差,水下环境识别困难等特殊问题,所以,进一步提升机器人智能化水平非常重要。英国GRL公司用于焊缝检验的先进海底机械手ARM系统采用先进的人机接口以及工厂用机器人的某些技术,实现了机械手的控制。以ARM的开发经验为基础,目前GRL公司正在研制更为先进的机器人控制系统Polecat,该系统将用于ROV导航员的训练平台Rovsim以及一系列欧盟和商业项目之中,其适用场合不仅包括海洋工程,也包括核电和其他环境。     

激光辅助智能车障碍物探测方法研究

在智能车视觉导航系统中,为了能够快速精确地探测到智能车前方障碍物,并恢复出障碍物表面的三维信息,提出了一种基于激光辅助的主动探测方法.该方法首先用激光发射器向空间障碍物发射多线激光光条,然后用摄像机观测图像中光条的扭曲,线条断开的位置经过一定的三角几何计算就给出障碍物的尺寸信息.实验结果表明,该方法能够快速准确地探测到障碍物并恢复出其表面三维信息,具有很强的鲁棒性.     

利用X射线脉冲星的星间差分联合定位方法简

Relative navigation traditionally using inter-satellite links demands higher inter-satellite time synchronization, and has no ability of absolute positioning and timing. In this paper, we propose a relative navigation model of X-ray pulsar-based co-localization. The main satellite receives the radiation pulse signal from X-ray pulsars, and sends the arrival time and individual pulse's feature to adjacent satellites through inter-satellite links. Then by detecting the inter-satellite time difference of X-ray pulsar signals we can establish the location equation to find the inter-satellite relative position. We deduce the error correction equation of the pulse TOA prediction model and analyze the identifiability of individual pulses of the pulsar. The method proposed in this paper is less influenced by the TOA prediction model, ephemeris error, etc. It is helpful for achieving on-line self-adaption correction of the TOA prediction model and combined orbit determination of satellite constellation.     

SINS/GPS组合导航方法设计

根据SINS/GPS组合导航的基本原理,重点研究联合卡尔曼滤波方法在组合导航中的应用,基于最优化理论的数据融合技术,通过分析纯惯性导航系统的误差,建立了组合导航系统的误差模型,设计了高可靠性、易于工程实现的简化联合卡尔曼滤波器和对应的数据融合算法。并对该导航系统进行了动态实验,结果表明组合导航能有效抑制导航参数误差,提高导航精度。     

自主移动机器人局部优化导航算法研究

自主移动机器人在未知环境下需要依靠自身装配的传感器不间断地获得周围环境信息,辨别出障碍物的位置,进行计算和自主决策.现有导航算法在面临U型等复杂环境时容易在僵死路径上产生反复,导致导航不能继续.文中提出了一种基于模糊逻辑的局部优化导航算法,采用"辨识-记忆"策略来处理传感器信息.在路径规划中保留最近走过路径的位置和角度特征等相关资源,形成"记忆".当前规划路径形成死区并反复运行时,会形成"辨识"并重新规划路径和导航决策以避免障碍物碰撞.在Webots Pro和Matlab下设计仿真实验,结果表明移动机器人在模糊规则指导下能有效避障和避免死区现象,实现较好的自主导航.     

小波变换法在姿态解算中的应用

在惯性导航系统中,为提高陀螺仪的姿态测量精度,抑制低频噪声的影响,提出采用小波变换法融合陀螺仪、加速度计数据解算姿态角。首先将陀螺仪采集的数据进行2层小波分解,剔除低频分量和不稳定的信号,并和高频分量重构,得到滤波后的陀螺仪数据。然后利用加速度计采集的数据解算姿态角,用来不断迭代初始四元数,由初始四元数求出重力向量,再由重力向量叉积求出误差,并作PID控制来修正陀螺仪的角度。最后把修正和滤波后的陀螺仪数据用龙格库塔法计算新的四元数,用该四元数进行负增益调节,最终解算出精确的姿态角。仿真结果表明,解算姿态角的精度提高了80%,可以有效地抑制低频噪声,更加精确地计算姿态角,从而进一步提高导航系统的定位精度。     

GPS自主导航原理、算法及应用

针对超小型飞行器的特点，详细研究了采用GPS实现超小型飞行器自主导航的原理和算法，并介绍了地面计算机在Windows环境下利用Visual Basic6．0接收和处理GPS定位数据的方法。     

Spatial navigation model based on chaotic attractor networks

We present a model of spatial navigation based on the non-convergent dynamics of brain activity. The system includes a hippocampal module that processes global spatial information and a cortical module that deals with local sensory information. We test the model using several spatial navigation paradigms: goal finding, shortcutting and detouring. Computer simulations show that the performance of the agent qualitatively matches that of animals and related models. This new approach provides a novel interpretation of how the brain accomplishes spatial navigation.     

3-D route-planning support for navigation in a complex indoor environment

Three-dimensional (3-D) route-planning support offers a promising solution to overcome problems with wayfinding in complex indoor environments. An experiment was conducted to test the effect of 3-D route-planning support in a realistic setting, a large hospital building, during normal operation. Forty participants performed navigation tasks either with (n?=?20) or without (n?=?20) 3-D route-planning support. Support resulted in faster navigation, more use of artwork specifically installed to aid wayfinding, fewer navigation errors, less disorientation and less anxiety. In addition, participants used different strategies for wayfinding: without navigation support they used signs and route colour, but with navigation support they used not only the artwork, but also the existing furniture and other landmarks. The acceptance of 3-D route-planning support was high. Overall, the results support the value of 3-D route-planning support.