Integrated Navigation System and Experiment of a Low-Cost and Low-Accuracy SINS/GPS

When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high.     

A method to improve the alignment performance for GPS-IMU System

Zero velocity and zero east component of rotation rate relative to local geographic frame have been traditionally applied as measurements for fine alignment of a GPS-IMU system. The performance of the fine alignment, however, will be affected by several types of inertial sensor errors, which could cause part of the Kalman filter states to be unobservable. To overcome this problem, a new method that utilizes the total outputs of the gyro triad and the accelerometer triad as part of the measurements has been proposed by the authors. The initial results have confirmed the effectiveness of the method. In this paper, the observability for both traditional and new alignment methods will be first reviewed. The results from computer simulations will then be presented to compare the traditional and the new alignment methods for the purpose of evaluating the performance of the proposed new method. Data acquired from real inertial sensors will also be applied to assess the traditional and new alignment methods by analyzing their innovation sequences from the Klaman filter. Based on a paper presented at the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation, Long Beach, California, September 2005.     

GPS sidereal filtering: coordinate- and carrier-phase-level strategies

Multipath error is considered one of the major errors affecting GPS observations. One can benefit from the repetition of satellite geometry approximately every sidereal day, and apply filtering to help minimize this error. For GPS data at 1 s interval processed using a double-difference strategy, using the day-to-day coordinate or carrier-phase residual autocorrelation determined with a 10-h window leads to the steadiest estimates of the error-repeat lag, although a window as short as 2 h can produce an acceptable value with > 97% of the optimal lag’s correlation. We conclude that although the lag may vary with time, such variation is marginal and there is little advantage in using a satellite-specific or other time-varying lag in double-difference processing. We filter the GPS data either by stacking a number of days of processed coordinate residuals using the optimum “sidereal” lag (23 h 55 m 54 s), and removing these stacked residuals from the day in question (coordinate space), or by a similar method using double-difference carrier-phase residuals (observational space). Either method results in more consistent and homogeneous set of coordinates throughout the dataset compared with unfiltered processing. Coordinate stacking reduces geometry-related repeating errors (mainly multipath) better than carrier-phase residual stacking, although the latter takes less processing time to achieve final filtered coordinates. Thus, the optimal stacking method will depend on whether coordinate precision or computational time is the over-riding criterion.     

支持向量机与卡尔曼滤波集合的西太平洋副热带高压数值预报误差修正

基于T106数值预报产品资料,提出了支持向量机和卡尔曼滤波相结合的方法来进行夏季西太平洋副热带高压数值预报的误差修正与预报优化。首先采用支持向量机方法建立了西太平洋副热带高压面积指数的误差修正模型。基于支持向量机预报优化模型尽管有比较好的拟合精度和预报效果,但与实际副热带高压指数尚有一定的差异。究其原因,除预报对象(副热带高压)本身比较复杂、模型优化因子不够充分以及数值预报误差自身的随机性以外,优化模型的输入、输出基本上是一个静态映射结构,因此前一时刻的预测误差难以得到有效的反馈、调整和修正。为考虑前一时刻预报误差的反馈信息,动态跟踪副高的变化趋势,随后引入卡尔曼滤波方法建立支持向量机-卡尔曼滤波模型,对支持向量机模型的输出结果作进一步的调整和优化。试验结果表明,该方法模型的预报优化效果优于T106数值预报产品以及单纯的神经网络修正模型和卡尔曼滤波修正模型的优化效果,能够较为客观、有效地修正西太平洋副热带高压指数的数值预报误差,改进和优化西太平洋副热带高压的数值预报效果。该方法为副热带高压等复杂天气系统和要素场预报提供了一种新的思路,表现出较好的应用前景。     

逐次滤波方法在GPS单点定位中的应用研究

采用平差计算中得到的观测值的残差来估计指数函数经验模型中的参数，从而使随机模型更真实地反映观测值中的随机误差和偏差。由实际GPS观测数据厦广播里历，按以上的函数模型和随机模型采用逐次滤波方法进行解算。结果表明，此方法在未剔除和修复周跳的情况下，可以使单点静态定位的平面外符合精度达1．46m，高程方向的外符合精度为1．72m。     

广东省逐年初台登陆时间的变化特点

通过对广东省初始登陆时间资料的分析,发现其具周期变化的特点。根据循环阶段（周期）的划分,比较满意地解释了近３年广东省初始登陆时间明显偏迟的原因。     

基于多分辨分析的滤波算法在SAR图像斑点噪声消除中的应用

合成孔径雷达 (SAR)图像一般都存在相干噪声 ,对地物信息的提取及 SAR图像应用的干扰非常严重 ,对此许多人提出了不少处理方法 ,并分析对比了多种滤波算法 ,认为改良 K -均值自适应滤波效果最佳。本文中分析了改良 K -均值自适应滤波法的数学基础的局限性 ,并采用了一种基于多分辨分析的滤波算法 ,该算法通过将噪声 (或较小的结构特征 )与较大的结构特征相分离 ,然后滤出噪声 (或较小的结构特征 ) ,从而达到消除斑点噪声的目的。实验结果证明 ,基于多分辨分析的滤波算法在消除 SAR图像的斑点噪声方面优于改良 K -均值自适应滤波法。     

应用计算机“推导”位场圆滑滤波及二次导数公式的方法

根据台劳级数展开式,将窗口内网格结点位场数据在计算点展开,且对应点两两相加,由最小二乘法求得窗口内网格结点的圆滑滤波算子和二次导数算子,将此算子与观测的位场数据褶积,就可得到位场圆滑后的数据及水平、垂直二次导数。     

GAIM电离层同化方法进展

电离层是复杂的空间层结,其变化受太阳活动强度、地球磁场等因素影响。随着空间技术发展的需求,电离层天气变化成为目前空间天气预报最重要的内容之一。最近10年,人们利用卫星在电离层观测方面取得了重大进展,尤其引人注意的是:无线电掩星观测技术正走向应用的新阶段,加上已经建立的全球大量的地基GPS观测网,它们不仅为电离层动力学模式研究提供了丰富的电离层资料,而且为电离层预报提供了很好基础。因此,电离层天气预报成为当前重要的、前瞻性的研究方向,电离层资料同化是电离层预报最重要的研究内容之一。该文系统介绍这方面国际动态,重点是美国的USC/JPL和犹他州大学开展全球电离层同化模型研究、全球电离层同化研究的进展,以及在电离层天气预报中应用的初步成果。     

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