Absolute velocity damping algorithm with varying damping ratio for inertial navigation systems based on Kalman filter

2016 ◽  
Author(s):  
Lu Feng ◽  
Zhihong Deng ◽  
Bo Wang ◽  
Shunting Wang
Keyword(s):  
Kalman Filter ◽  
Damping Ratio ◽  
Inertial Navigation ◽  
Absolute Velocity ◽  
Navigation Systems ◽  
Inertial Navigation Systems

Analysis of Three Velocity Plus Attitude Matching Methods for Transfer Alignment

2012 ◽  
Vol 433-440 ◽  
pp. 2802-2807
Author(s):  
Ying Hong Han ◽  
Wan Chun Chen
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Excellent Performance ◽  
Transfer Alignment ◽  
Matching Methods ◽  
Moving Base

For inertial navigation systems (INS) on moving base, transfer alignment is widely applied to initialize it. Three velocity plus attitude matching methods are compared. And Kalman filter is employed to evaluate the misalignment angle. Simulations under the same conditions show which scheme has excellent performance in precision and rapidness of estimations.

scholarly journals A Novel Information Fusion Method for Redundant Rotational Inertial Navigation Systems Based on Reduced-Order Kalman Filter

2018 ◽  
Vol 160 ◽  
pp. 07005
Author(s):  
Lin Wang ◽  
Wenqi Wu ◽  
Guo Wei ◽  
Jinlong Li ◽  
Ruihang Yu
Keyword(s):  
Kalman Filter ◽  
Information Fusion ◽  
Navigation System ◽  
Inertial Navigation System ◽  
High Reliability ◽  
Inertial Navigation ◽  
Position Error ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Reduced Order

The redundant rotational inertial navigation systems can satisfy not only the high-accuracy but also the high-reliability demands of underwater vehicle on navigation system. However, different systems are usually independent, and lack of information fusion. A reduced-order Kalman filter is designed to fuse the navigation information output of redundant rotational navigation systems which usually include a dual-axis rotational inertial navigation system being master system and a single-axis rotational inertial navigation system being hot-backup system. The azimuth gyro drift of single-axis rotational inertial navigation system can be estimated by the designed filter, whereby the position error caused by that can be compensated with the aid of designed position error prediction model. As a result, the improved performance of single-axis rotational inertial navigation system can guarantee the position accuracy in the case of dual-axis system failure. Semi-physical simulation and experiment verify the effectiveness of the proposed method.

scholarly journals Research on Dynamic Inertial Estimation Technology for Deck Deformation of Large Ships

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4167
Author(s):  
Bo Ren ◽  
Tianjiao Li ◽  
Xiang Li
Keyword(s):  
Kalman Filter ◽  
Estimation Method ◽  
Inertial Navigation ◽  
Engineering Application ◽  
Estimation Accuracy ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Weapon Systems ◽  
Dynamic Estimation ◽  
Curvature And Torsion

Many kinds of weapon systems and launching equipment on the deck of large ships are easily affected by deck deformation. In order to ensure the accuracy of weapon systems and the safety of taking off and landing of carrier aircraft, a dynamic estimation method combining the main inertial navigation systems (INS) and the sub-inertial navigation systems (SINS) is designed to estimate the curvature and torsion of any trajectory on the deck. Our contributions start from the fact that the area of concern extends from the fixed points to any trajectory on the deck. The dynamic filter algorithm of wavelet combined with Kalman filter is used to process the acquired data. The wavelet method is used to remove the outliers in the acquired data, and the Kalman filter effectively reduces the influence of white noise, so that the estimation accuracy is guaranteed. The simulation results clearly show that the deck deformation of large ships can be obtained accurately in real-time over the observed area which proved that this dynamic inertial measurement method is feasible in practical engineering application.

scholarly journals Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989484 ◽  
Author(s):  
Hossein Rahimi ◽  
Amir Ali Nikkhah
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation ◽  
Control Signal ◽  
Navigation Systems ◽  
Alignment Method ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Strapdown Inertial Navigation

In this article, a method was proposed for strapdown inertial navigation systems initial alignment by drawing on the conventional alignment method for stable platform navigation systems. When a vessel is moored, the strapdown inertial navigation system contributes to the disturbing motion. Moreover, the conventional methods of accurate alignment fail to succeed within an acceptable period of time due to the slow convergence of the heading channel in the mooring conditions. In this work, the heading was adjusted using the velocity bias resulting from the component of the angular velocity of the Earth on the east channel on the strapdown inertial navigation systems analytic platform plane to accelerate convergence in the initial alignment of navigation system. To this end, an extended Kalman filter with control signal feedback was used. The heading error was calculated using the north channel residual velocity of the strapdown inertial navigation systems analytic platform plane and was entered into an extended Kalman filter. Simulation and turntable experimental tests were indicative of the ability of the proposed alignment method to increase heading converge speed in mooring conditions.

Attitude Matching for Gimbaled Inertial Navigation System Transfer Alignment

2012 ◽  
Vol 190-191 ◽  
pp. 768-773
Author(s):  
Zhi Jian Ding ◽  
Hong Cai ◽  
Hua Bo Yang ◽  
Yuan Cao
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Angle Error ◽  
Transfer Alignment ◽  
Moving Base ◽  
Alignment Model

Abstract: Aiming at transfer alignment of gimbaled INS(Inertial Navigation Systems) on moving base, the paper proposes an attitude matching alignment model to calibrate the slave platform. This method is achieved by applying a Kalman filter, which based on the frame angle error equations, to estimate the fixed misalignment angle and obtain the misalignment angle. Firstly, the frame dynamics equations are introduced and the relation between the fixed angle and misalignment angle is discussed. Secondly, the frame angular error differential equations are built up via the frame angle information from the master and the slave INS platform. Lastly, the attitude matching alignment model is designed based on Kalman filter technology. The simulation results show that the proposed method can obtain an alignment accuracy of 40", and the corresponding alignment time is 30 seconds.

Sign in / Sign up

Export Citation Format

Share Document