共查询到18条相似文献,搜索用时 171 毫秒
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由于INS误差容易快速积累,所以在GPS/INS组合导航过程中依赖于GPS信号的稳定性,露天矿区GPS信号容易发生中断或遮挡,引起INS误差的快速增长,降低导航精度。在GPS/INS组合导航的基础上,提出了露天矿区里程计辅助的组合导航算法,修正了GPS信号中断过程中导航参数误差。介绍了里程计速度和位置的解算方法和传统的GPS/INS组合导航的动力学模型及观测模型,给出了里程计辅助GPS/INS组合导航算法的结构图,描述了里程计辅助的GPS/INS组合导航算法的详细过程,通过车载验证了算法的有效性。实验结果表明:GPS信号缺失的情况下,GPS/INS组合导航的误差快速积累,导航精度较低;通过引入里程计辅助组合导航,可以及时修正GPS信号中断阶段的导航参数误差,加入的里程计辅助的GPS/INS组合导航误差在NED三个方向的最大值分别为11.336 m、8.056 m和19.782 m,比无里程计辅助的误差(在NED三个方向的最大值分别为40.324m、38.776m和79.693m)有较大提高,数据解算满足导航要求。 相似文献
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在GPS/INS辅助航空摄影测量作业过程中,如果GPS失锁时间过长将会影响到整个机载POS数据后处理精度,从而影响制图效果。文章旨在研究解决传统基于位置、速度组合的松耦合导航系统在GPS失锁情况下后处理精度不高的问题,提出基于伪距、伪距率的紧耦合导航系统:在保证外符合精度前提下,后处理后的位置内符合精度达到0.05m、航向角内符合精度约为0.005deg,各项指标均满足国外GPS/INS辅助航空摄影测量系统解算精度要求。研究结果可以为解决相关问题提供参考。 相似文献
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针对卫星导航系统和惯性导航系统(INS)的不同特性,提出了一种GPS/GLONASS/INS数据融合算法。采用差分自适应检测算法、改进码平均相位算法以及位置联合解算方法实现了GPS/GLONASS数据融合,借助于改进的粒子滤波器、INS误差模型建立系统状态方程和观测方程,完成GPS/GLONASS系统速度值和INS系统速度值数据融合,提高组合导航系统精度和可靠性。使用真实数据对数据融合算法性能进行仿真分析,结果表明所设计算法是有效的,能够处理非线性非高斯条件下的滤波估计,提高滤波精度和系统可靠性。 相似文献
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As the battle environment becomes more complicated, the demand for higher accuracy and better anti-jam capacity of navigation has been increasing. The conventional JTIDS/INS/GPS integrated navigation cannot meet the demands of certain situations such as precision strike and formation flight. A new system that introduces the differential GPS into JTIDS/INS/GPS integration system is proposed to improve the navigation performance in the modern combined operations. In this system, the differential information of DGPS is transmitted through the communication data link of Link-16. As a result, the system resources are efficiently utilized and the controllability and anti-jam performance of the system are significantly enhanced. A hybrid slot allocation protocol (HSAP) that combines a static slot allocation algorithm and a dynamic slot allocation algorithm and the corresponding source-chosen mechanisms are proposed. The performance of the JTIDS/INS/GPS integration navigation using the differential GPS information from one or multiple base stations is studied and compared with that of the system without using the differential GPS information. Furthermore, the performance of the integration navigation using HSAP is compared with that of the system using static slot allocation algorithm. We show that navigation accuracy based on the differential GPS is improved, and using HSAP also leads to higher localization accuracy. 相似文献
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A combined algorithm of improving INS error modeling and sensor measurements for accurate INS/GPS navigation 总被引:1,自引:1,他引:1
Although the integrated system of a differential global positioning system (DGPS) and an inertial navigation system (INS)
had been widely used in many geodetic navigation applications, it has sometimes a major limitation. This limitation is associated
with the frequent occurrence of DGPS outages caused by GPS signal blockages in certain situations (urban areas, high trees,
tunnels, etc.). In the standard mechanization of INS/DGPS navigation, the DGPS is used for positioning while the INS is used
for attitude determination. In case of GPS signal blockages, positioning is provided using the INS instead of the GPS until
satellite signals are obtained again with sufficient accuracy. Since the INS has a very short-time accuracy, the accuracy
of the provided INS navigation parameters during these periods decreases with time. However, the obtained accuracy in these
cases is totally dependent on the INS error model and on the quality of the INS sensor data. Therefore, enhanced navigation
parameters could be obtained during DGPS outages if better inertial error models are implemented and better quality inertial
measurements are used. In this paper, it will be shown that better INS error models are obtained using autoregressive processes
for modeling inertial sensor errors instead of Gauss–Markov processes that are implemented in most of the current inertial
systems and, on the other hand, that the quality of inertial data is improved using wavelet multi-resolution techniques. The
above two methods are discussed and then a combined algorithm of both techniques is applied. The performance of each method
as well as of the combined algorithm is analyzed using land-vehicle INS/DGPS data with induced DGPS outage periods. In addition
to the considerable navigation accuracy improvement obtained from each single method, the results showed that the combined
algorithm is better than both methods by more than 30%. 相似文献
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GPS/INS组合导航系统的Matlab/Simulink仿真 总被引:7,自引:1,他引:7
首先系统研究了GPS/INS组合导航系统的仿真原理,然后以Matlab/Simulink为平台,在对GPS、INS进行单独仿真的基础上,对GPS/INS组合导航系统进行了实时的扩展Kalman滤波仿真试验,试验结果不仅证明组合导航具有较高的导航精度,而且为进一步研究组合导航系统开辟了一条比较实用的道路。 相似文献
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M. S. Senobari 《Journal of Geodesy》2010,84(5):277-291
A method for airborne vector gravimetry has been developed. The method is based on developing the error dynamics equations
of the INS in the inertial frame where the INS system errors are estimated in a wave estimator using inertial GPS position
as update. Then using the error-corrected INS acceleration and the GPS acceleration in the inertial frame, the gravity disturbance
vector is extracted. In the paper, the focus is on the improvement of accuracy for the horizontal components of the airborne
gravity vector. This is achieved by using a decoupled model in the wave estimator and decorrelating the gravity disturbance
from the INS system errors through the estimation process. The results of this method on the real strapdown INS/DGPS data
are promising. The internal accuracy of the horizontal components of the estimated gravity disturbance for repeated airborne
lines is comparable with the accuracy of the down component and is about 4–8 mGal. Better accuracy (2–4 mGal) is achieved
after applying a wave-number correlation filter (WCF) to the parallel lines of the estimated airborne gravity disturbances. 相似文献
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针对在导航实践中低成本MEMS使用传统紧耦合方法计算精度受到限制的问题,提出了一种采用载波相位平滑伪距GNSS PPP/INS紧耦合的算法。实验表明,使用相位平滑伪距的GNSS PPP/INS紧耦合方法后低精度的MEMS和GPS组合位置精度为dm级,速度精度为cm/s甚至mm/s,比传统C/A码紧耦合定位精度高,有较好的收敛性;其次当增加相位平滑的历元数后精度也相应提高。当出现GPS信号中断时,该方法能够加速中断以后滤波收敛的速度,将导航精度控制在中高精度惯导作业要求范围内。该方法节约了导航作业的设备成本,具有一定实际意义。 相似文献
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Dong-Hwan Hwang Sang Heon Oh Sang Jeong Lee Chansik Park Chris Rizos 《GPS Solutions》2005,9(4):294-311
Due to their complementary features of GPS and INS, the GPS/INS integrated navigation system is increasingly being used for
a variety of commercial and military applications. An attitude determination GPS (ADGPS) receiver, with multiple antennas,
can be more effectively integrated with a low-cost IMU since the receiver gives not only position and velocity data but also
attitude data. This paper proposes a low-cost attitude determination GPS/INS integrated navigation system. The proposed navigation
system comprises an ADGPS receiver, a navigation computer unit (NCU), and a low-cost commercial MEMS IMU. The navigation software
includes a fault detection and isolation (FDI) algorithm for integrity. In order to evaluate the performance of the proposed
navigation system, two flight tests have been performed using a small aircraft. The first flight test confirmed the fundamental
operation of the proposed navigation system and the effectiveness of the FDI algorithm. The second flight test evaluated the
performance of the proposed navigation system and demonstrated the benefit of GPS attitude information in a high dynamic environment.
The flight test results show that the proposed ADGPS/INS integrated navigation unit gives reliable navigation performance
even when anomalous GPS data is provided and gives better navigation performance than a conventional GPS/INS unit. 相似文献
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利用联邦滤波器设计SINS/RDSS/GPS组合导航系统 总被引:3,自引:0,他引:3
介绍了Garlson提出的分布式联邦滤波理论,讨论了两类系统设计类型和四种配置模式的特征。首次提出SINS/RDSS/GPS组合导航的设想,并对各子系统特点进行了探讨和对SINS/RDSS子系统进行了建模,建议在实际开发中采用NR配置模式,该模式属于A类联邦滤波系统。通过算例验证了NR模式融合结果的近似最优性、优良的容错性和故障探测能力。 相似文献
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The method of integrated data processing for GPS and INS(inertial navigation system) field test over the Rocky Mountains using the adaptive Kalman filtering technique is presented. On the basis of the known GPS outputs and the offset of GPS and INS, state equations and observations are designed to perform the calculation and improve the navigation accuracy. An example shows that with the method the reliable navigation parameters have been obtained. 相似文献