scholarly journals Design of Variable Damping INS for Ships Based on the Variation of Reference Velocity Error

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Chuang Liu ◽  
Qiuping Wu ◽  
Peida Hu ◽  
Rong Zhang
Keyword(s):  
Fuzzy Controller ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Velocity Error ◽  
Reference Velocity ◽  
Frequent Switching ◽  
Variable Damping ◽  
Oscillation Damping ◽  
Navigation Accuracy

Schuler oscillation damping is one of the key technologies to improve the long-term precision of inertial navigation systems (INSs). Generally, a ship introduces the reference velocity to work on the external horizontal damping status to avoid the effects caused by maneuvers. However, the navigation accuracy is sensitive to the reference velocity error which will be affected by sea conditions and the ship’s maneuver. It is necessary to adjust the damping status dynamically as the change of the reference velocity error to ensure the accuracy and stability of INS. To address this problem, a novel variable damping system based on the variation of the reference velocity error is designed in this paper. First of all, this proposed method switched the damping status according to the variation of the reference velocity error in a certain period of time based on the principle of window detection. In addition, this paper designed a fuzzy controller to avoid the overshoot caused by the frequent switching of the damping status. What is more, a method of overshoot suppression was applied in this system. Simulation experiments were conducted to validate the theoretical analysis and the effectiveness of this method. Compared with the undamping system, constant damping system, and traditional variable damping system, the simulation results verified that the designed variable damping system can attenuate the system error caused by reference velocity error most effectively, thus improving the navigation accuracy of INS.

Adaptive Anti-Disturbance Method for Magnetometer and INS Integration in a Road Vehicle

2019 ◽  
Vol 72 (06) ◽  
pp. 1513-1532
Author(s):  
Zongkai Wu ◽  
Wei Wang
Keyword(s):  
Kalman Filter ◽  
Low Cost ◽  
Navigation Systems ◽  
Extend Kalman Filter ◽  
Inertial Navigation Systems ◽  
Road Vehicle ◽  
Practical Applications ◽  
Short And Long Term ◽  
Magnetic Disturbances

The integration of magnetometers and Inertial Navigation Systems (INS) is widely used in low-cost navigation systems. However, even if the system has been calibrated, random magnetic disturbances still appear in practical applications, which lead to large heading errors. To solve this problem, an adaptive anti-disturbance method to overcome random magnetic disturbance is proposed. First, disturbances are classified and analysed in detail based on actual road vehicle driving data. Then an Adaptive Robust Extend Kalman Filter (AREKF) is designed to resist sudden disturbances. However, an AREKF may accumulate errors slowly when a long-term disturbance exists. Considering this situation, this paper proposes that AREKF is used to maintain accuracy in the early stages, at the same time as the magnetometer is quickly calibrated with a Kalman filter. Then, the new magnetometer parameters are put into the AREKF to suppress long-term disturbances. Finally, cascading these two modules, not only the sudden disturbance can be overcome, but the situation of long-term disturbances can be suppressed. The results of simulation and an actual driving test show that the proposed method can effectively overcome random magnetic disturbances in both the short and long term.

scholarly journals Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

Sensors ◽  
2016 ◽  
Vol 16 (12) ◽  
pp. 2177 ◽  
Author(s):  
Ruonan Wu ◽  
Qiuping Wu ◽  
Fengtian Han ◽  
Tianyi Liu ◽  
Peida Hu ◽  
...  
Keyword(s):  
High Precision ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Gravity Compensation ◽  
Inertial Navigation Systems

scholarly journals A Fault-Tolerant Level Damping Algorithm for Marine INS

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Guohu Feng
Keyword(s):  
Fault Tolerant ◽  
Velocity Oscillation ◽  
Navigation Solution ◽  
Reference Velocity ◽  
External Reference ◽  
Variable Damping ◽  
Velocity Changes ◽  
Navigation Test ◽  
Navigation Accuracy ◽  
Damping Model

When the measurement error of the external reference velocity changes dramatically, the traditional level damping for marine INS needs to cut off the damping to maintain the navigation accuracy. The level channel has a large overshoot oscillation during the variable damping instantaneous, which results in obvious position deviation. In order to solve this practical problem, a damping model is established outside the INS. The most obvious advantage of the algorithm is that the damping algorithm does not affect the inertial navigation solution. The fault-tolerant algorithm realizes the automatic damping switch according to the external reference velocity error variation criterion, which avoids the velocity oscillation and position deviation. Compared with traditional methods, the algorithm presented in this paper has higher reliability and better environmental adaptability. The effectiveness of the algorithm is verified by the actual navigation test data.

scholarly journals A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2947
Author(s):  
Ming Hua ◽  
Kui Li ◽  
Yanhong Lv ◽  
Qi Wu
Keyword(s):  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Measurement Information ◽  
Dynamic Calibration ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Additional Information ◽  
Two Systems ◽  
Dynamic Calibration Method

Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.

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.

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