The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improv...The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.展开更多
A land vehicle tracking and monitoring system based on the integration of differential global position system (DGPS), dead-reckoning (DR), and map matched technology is studied. In this paper, from the economic point ...A land vehicle tracking and monitoring system based on the integration of differential global position system (DGPS), dead-reckoning (DR), and map matched technology is studied. In this paper, from the economic point of view, a new scheme using the one-way directional communication link, is presented. Moreover, 8-state Kalman filter is proposed for integrated DGPS/DR system. When field tests are carried out using two C/A code GARMIN GPS receiver, the positioning accuracy less than 5 m (1σ) is achieved.展开更多
Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitatio...Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.展开更多
To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most ...To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.展开更多
MEMS （micro electro mechanical systems） inertial navigation system ~, Mll＇~3） nas Been WllUly used in robots for its low-cost. The MINS and magnetometers are commonly the component parts of the attitude and headin...MEMS （micro electro mechanical systems） inertial navigation system ~, Mll＇~3） nas Been WllUly used in robots for its low-cost. The MINS and magnetometers are commonly the component parts of the attitude and heading reference systems （AHRS）, which provide pitch and roll angles relative to the earth gravity vector, and heading angle relative to the north. However, the performance of sen- sors with low cost AHRS is not so good. The gyros are not sensitive enough to observe the earth an- gular velocity, so the traditional technique like alignment algorithm is invalid. The measurements of gyros become useless to determine the initial attitude matrix from navigation frame to body frame. The alignment algorithm is computed by the accelerometers and magnetometers. The process is es- tablished as an optimization problem of finding the maximum eigenvector. Meanwhile the sensitive analysis with respect to the biases of accelerometers is proposed. Then the recursive least squares al- gorithm （RLSA） is introduced. The comparison between the proposed method and RLSA is provid- ed. The results demonstrate its accuracy favorably and verify the feasibility of the proposed algo- rithm.展开更多
Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetomete...Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetometer is applied in strapdown inertial navigation system(SINS).So a quick,easy and effective calibration algorithm is developed based on the ellipsoid constraint to calibrate magnetometers.In this paper,the measuring principle and error characteristic of the magnetometer are analysed to study its magnetic interference.During the process,a magnetometer calibration model is set up to convert the calibration to ellipsoid fitting based on the characteristic of hard magnetic interference and soft magnetic interference.Then the algorithm is tested by mimic experiment.The result shows that measurement precision is improved after the calibration,and then the magnetometer is installed in a control cabin of an underwater robot which is designed and developed by us,and actual magnetometer calibration experiments are conducted to further verify the validity of the algorithm.展开更多
文摘The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.
文摘A land vehicle tracking and monitoring system based on the integration of differential global position system (DGPS), dead-reckoning (DR), and map matched technology is studied. In this paper, from the economic point of view, a new scheme using the one-way directional communication link, is presented. Moreover, 8-state Kalman filter is proposed for integrated DGPS/DR system. When field tests are carried out using two C/A code GARMIN GPS receiver, the positioning accuracy less than 5 m (1σ) is achieved.
基金Financial support for this work, provided by the National Natural Science Foundation of China (No.50504014), is gratefully acknowledged
文摘Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.
文摘To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.
基金Supported by the National Natural Science Foundation of China(No.60905056)
文摘MEMS （micro electro mechanical systems） inertial navigation system ~, Mll＇~3） nas Been WllUly used in robots for its low-cost. The MINS and magnetometers are commonly the component parts of the attitude and heading reference systems （AHRS）, which provide pitch and roll angles relative to the earth gravity vector, and heading angle relative to the north. However, the performance of sen- sors with low cost AHRS is not so good. The gyros are not sensitive enough to observe the earth an- gular velocity, so the traditional technique like alignment algorithm is invalid. The measurements of gyros become useless to determine the initial attitude matrix from navigation frame to body frame. The alignment algorithm is computed by the accelerometers and magnetometers. The process is es- tablished as an optimization problem of finding the maximum eigenvector. Meanwhile the sensitive analysis with respect to the biases of accelerometers is proposed. Then the recursive least squares al- gorithm （RLSA） is introduced. The comparison between the proposed method and RLSA is provid- ed. The results demonstrate its accuracy favorably and verify the feasibility of the proposed algo- rithm.
基金Supported by the National High Technology Research and Development Programme of China(No.2011AA04201)
文摘Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetometer is applied in strapdown inertial navigation system(SINS).So a quick,easy and effective calibration algorithm is developed based on the ellipsoid constraint to calibrate magnetometers.In this paper,the measuring principle and error characteristic of the magnetometer are analysed to study its magnetic interference.During the process,a magnetometer calibration model is set up to convert the calibration to ellipsoid fitting based on the characteristic of hard magnetic interference and soft magnetic interference.Then the algorithm is tested by mimic experiment.The result shows that measurement precision is improved after the calibration,and then the magnetometer is installed in a control cabin of an underwater robot which is designed and developed by us,and actual magnetometer calibration experiments are conducted to further verify the validity of the algorithm.
