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基于加权自适应平方根容积卡尔曼滤波的GPS/INS组合导航方法
组合导航 量测噪声 容积卡尔曼滤波 加权
2018/5/21
针对GPS/INS组合导航系统中，由于量测噪声统计的不确定性导致平方根容积卡尔曼滤波器(SCKF)滤波精度下降甚至发散的问题，该文提出一种基于加权的自适应SCKF(WASCKF)方法。该方法首先利用移动开窗理论对SCKF新息的协方差阵进行最大似然估计，实现对测量噪声统计特性的在线调整；然后，利用加权理论，依据窗口内不同时刻信息的有用程度的不同而设置相应的权值，增强对窗口内有用信息的利用。最后，将W...
Analysis of the Kalman Filter with Different INS Error Models for GPS/INS Integration in Aerial Remote Sensing Applications
Direct Georeferencing Aerial Triangulation GPS/INS Integration
2015/12/17
In the Kalman filter used for the integration of GPS/INS, the inertial sensor error model is usually considered as a random constant or
random walk for both gyroscopes and accelerometers. However, th...
Integration of GPS/INS/Vision Sensors to Navigate Unmanned Aerial Vehicles
Aerial Fusion GPS/INS Multisensor Navigation Vision
2015/11/23
Two Kalman filers have been designed to operate separately to provide a reliable check on the navigation solutions. When GPS signals are available, the GPS measurements are used to update the error st...
A NEW SURVEY ON SELF-TUNING INTEGRATED LOW-COST GPS/INS VEHICLE NAVIGATION SYSTEM IN HARSH ENVIRONMENT
GPS/INS integration Extended Kalman Filter Fuzzy Inference System
2015/9/10
Nowadays, Global Positioning System (GPS) receivers are aided by some complementary radio navigation systems and Inertial Navigation Systems (INS) to obtain more accuracy and robustness in land vehicu...
An Inexpensive and Robust GPS/INS Attitude System for Automobiles
Inexpensive Robust GPS/INS Attitude System Automobiles
2015/6/26
Many of the sophisticated control systems of modern automobiles require measurements of the vehicle’s attitude. Commercial GPS attitude systems are the method of choice for measuring attitude in many ...
Performance Analysis and Experimental Validation of a Doppler-Aided GPS/INS Receiver for JPALS Applications
Doppler-Aided GPS/INS Receiver JPALS Applications
2015/6/26
The Joint Precision Approach and Landing System (JPALS) is the next generation aircraft precision approach and landing system being sponsored by US Department of Defense. This GPS-based system will pr...
GPS/INS SYSTEMS FOR COMPILATION OF DIGITAL LARGE-SCALE ORTHOPHOTOS
Photogrammetry Mapping Orthoimage GPS/INS Orientation
2015/6/1
The paper describes the first results of a study, supported by an Italian research project “Integrated Inertial Positioning Systems in Aerial Photogrammetry” on the potential use of these techniques f...
One of the basic problems of photogrammetry is the reconstruction of the elements of the exterior orientation. Over the last 40 years, triangulation techniques have been developed and improved, in ord...
一种基于矢量跟踪的GPS/INS深耦合跟踪环路设计
数据异步 信号跟踪 CIC 滤波 深耦合
2016/10/12
针对GPS 与INS 两路数据更新频率不一致的问题，提出一种基于矢量跟踪的GPS/INS 深耦合跟踪环路 设计方法。利用滤波外推与CIC 滤波相结合的方法，将误差修正后惯导信息回馈到各矢量信号跟踪信道，以调控伪 码和载波数控振荡器(controlled oscillator，NCO)，实现了跟踪环路的闭合，最终建立起了两路相互独立数据之间相互 辅助、相互修正的关系。仿真实验结果表明，设计的GPS/...
Non-Linear Filtering for Precise Point Positioning GPS/INS integration
GPS PPP INS EKF UKF PF and tightly coupled
2014/11/28
This research investigates the performance of non-linear estimation filtering for GPS-PPP/MEMS-based inertial system. Although integrated GPS/INS system involves nonlinear motion state and measurement...
露天矿卡车低成本GPS/INS组合导航系统动态对准模型
露天矿 惯性导航系统 初始对准 Cubature卡尔曼滤波 大失准角
2013/12/6
低成本GPS/INS组合导航系统是露天矿卡车调度系统的理想定位系统，但低成本GPS/INS无法实现静态初始对准。提出地固系下捷联惯性导航系统动态初始对准的非线性误差模型，该模型不需要假设失准角为小角并且直接在地固系下解算，尤其适合于GPS辅助INS动态对准。提出一种简化的Cubature卡尔曼滤波进行GPS/INS数据融合。采用车载实测数据仿真露天矿卡车初始对准实验，实验结果表明：利用GPS信息辅...
基于低通滤波技术的GPS/INS组合导航
INS 误差模型 低通滤波器 卡尔曼滤波 GPS/INS 组合导航
2016/9/21
针对GPS/INS 组合导航系统中的惯性导航系统(inertial navigation system，INS)存在的随机误差的问题， 研究了一种通过低通滤波器减弱或消除GPS/INS 组合导航系统高频噪声的方法。分析了陀螺仪与加速度计在三轴方 向上的误差源及其相关性，给出无人机组合导航系统中GPS/INS 组合导航误差模型，针对INS 数据中所含的高频误 差，构造了低通滤波器以消除其对导航精度的...
考虑到惯导信息辅助GPS(GPS/INS)接收机对干扰抑制实时性的要求,提出一种基于Kalman滤波的GPS/INS接收机自适应干扰抑制方法。自适应广义旁瓣相消(GSC)多采用低复杂度最小均方(LMS)算法更新权矢量,收敛速率较低,严重时会导致接收机定位中断。首先利用Householder变换构建GSC下支路的阻塞矩阵,用于阻塞任意二维阵型阵列接收的期望信号;再用Kalman滤波自适应更新下支路权...
ACCURACY VERIFICATION OF GPS-INS METHOD IN INDONESIA
GPS/INS IMU Adjustment Image Triangulation Comparison
2014/4/25
Pasco Corporation (Japan) has been implementing a project in Indonesia for Sumatra Island which is named Data Acquisition and Production on the National Geo-Spatial Data Infrastructure (NSDI) Developm...
将基于双状态传播器的状态χ2检验法(SCST)结合Fuzzy ARTMAP神经网络应用于GPS/INS紧组合导航系统故障的诊断和参数识别。首先，采用双状态传播器的状态χ2检验法对组合导航系统进行故障检测，得到故障的特征模式，并给出了双状态传播器重置时间间隔选择的充分条件；然后，利用Fuzzy ARTMAP神经网络结合特定的飞行器机动对故障模式进行分类，给出了一种新的分类方法；对于飞行器...