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A dual adaptive unscented Kalman filter algorithm for SINS-based integrated navigation system 被引量:1
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作者 LYU Xu MENG Ziyang +4 位作者 LI Chunyu CAI Zhenyu HUANG Yi LI Xiaoyong YU Xingkai 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2024年第3期732-740,共9页
In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual ... In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified. 展开更多
关键词 Kalman filter dual-adaptive integrated navigation unscented Kalman filter(UKF) ROBUST
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SINS/CNS/GPS integrated navigation algorithm based on UKF 被引量:27
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作者 Haidong Hu Xianlin Huang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第1期102-109,共8页
A new nonlinear algorithm is proposed for strapdown inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation systems. The algorithm employs a nonl... A new nonlinear algorithm is proposed for strapdown inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter (UKF) to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle's attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm. 展开更多
关键词 navigation system integrated navigation unscented Kalman filter federated Kalman filter strapdown inertial navigation system celestial navigation system global psitioning system.
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An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network 被引量:15
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作者 Hai-fa Dai Hong-wei Bian +1 位作者 Rong-ying Wang Heng Ma 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2020年第2期334-340,共7页
In view of the failure of GNSS signals,this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network(RNN).This proposed method utilizes the calculation principle of INS and the mem... In view of the failure of GNSS signals,this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network(RNN).This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS,thereby obtaining a continuous,reliable and high-precision navigation solution.The performance of the proposed method is firstly demonstrated using an INS/GNSS simulation environment.Subsequently,an experimental test on boat is also conducted to validate the performance of the method.The results show a promising application prospect for RNN in the field of positioning for INS/GNSS integrated navigation in the absence of GNSS signal,as it outperforms extreme learning machine(ELM)and EKF by approximately 30%and 60%,respectively. 展开更多
关键词 inERTIAL navigation system(ins) Global navigation satellite system(GNSS) integrated navigation RECURRENT neural network(RNN)
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IAE-adaptive Kalman filter for INS/GPS integrated navigation system 被引量:14
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作者 Bian Hongwei Jin Zhihua Tian Weifeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2006年第3期502-508,共7页
A marine INS/GPS adaptive navigation system is presented. GPS with two antenna providing vessel' s altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kal... A marine INS/GPS adaptive navigation system is presented. GPS with two antenna providing vessel' s altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kalman filter is the most frequently used algorithm in the integrated navigation system, which is capable of estimating INS errors online based on the measured errors between INS and GPS. The standard Kalman filter (SKF) assumes that the statistics of the noise on each sensor are given. As long as the noise distributions do not change, the Kalman filter will give the optimal estimation. However GPS receiver will be disturbed easily and thus temporally changing measurement noise will join into the outputs of GPS, which will lead to performance degradation of the Kalman filter. Many researchers introduce fuzzy logic control method into innovation-based adaptive estimation adaptive Kalman filtering (IAE-AKF) algorithm, and accordingly propose various adaptive Kalman filters. However how to design the fuzzy logic controller is a very complicated problem still without a convincing solution. A novel IAE-AKF is proposed herein, which is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence of the filter gain. The approach is direct and simple without having to establish fuzzy inference rules. After having deduced the proposed IAEAKF algorithm theoretically in detail, the approach is tested by the simulation based on the system error model of the developed INS/GPS integrated marine navigation system. Simulation results show that the adaptive Kalman filter outperforms the SKF with higher accuracy, robustness and less computation. It is demonstra- ted that this proposed approach is a valid solution for the unknown changing measurement noise exited in the Kalman filter. 展开更多
关键词 inertial navigation system global positioning system integrated navigation system adaptive Kalman filter
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A tightly coupled rotational SINS/CNS integrated navigation method for aircraft 被引量:7
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作者 NING Xiaolin YUAN Weiping LIU Yanhong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第4期770-782,共13页
Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated... Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated navigation can be divided into two integrated modes:loosely coupled integrated navigation and tightly coupled integrated navigation.Because the loosely coupled SINS/CNS integrated system is only available in the condition of at least three stars,the latter one is becoming a research hotspot.One major challenge of SINS/CNS integrated navigation is obtaining a high-precision horizon reference.To solve this problem,an innovative tightly coupled rotational SINS/CNS integrated navigation method is proposed.In this method,the rotational SINS error equation in the navigation frame is used as the state model,and the starlight vector and star altitude are used as measurements.Semi-physical simulations are conducted to test the performance of this integrated method.Results show that this tightly coupled rotational SINS/CNS method has the best navigation accuracy compared with SINS,rotational SINS,and traditional tightly coupled SINS/CNS integrated navigation method. 展开更多
关键词 celestial navigation system(CNS) rotation modulation technology ROTATIONAL STRAPDOWN inERTIAL navigation system(Sins) ROTATIONAL Sins/CNS integrated navigation
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Accuracy improvement of GPS/MEMS-INS integrated navigation system during GPS signal outage for land vehicle navigation 被引量:15
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作者 Honglei Qin Li Cong Xingli Sun 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第2期256-264,共9页
To improve the reliability and accuracy of the global po- sitioning system (GPS)/micro electromechanical system (MEMS)- inertial navigation system (INS) integrated navigation system, this paper proposes two diff... To improve the reliability and accuracy of the global po- sitioning system (GPS)/micro electromechanical system (MEMS)- inertial navigation system (INS) integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive (FAR) model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system (ANFIS) method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS (SCANFIS) combined with the extended Kalman filter (EKF) is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods. 展开更多
关键词 functional coefficient autoregressive (FAR) global po- sitioning system (GPS) micro electromechanical system (MEMS) inertial navigation system (ins self-constructive adaptive neuro- fuzzy inference system (SCANFIS).
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UWB/INS紧组合变分贝叶斯自适应滤波算法 被引量:1
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作者 徐天河 王森 代培培 《导航定位学报》 北大核心 2025年第2期1-8,共8页
针对超宽带(UWB)与惯性导航系统(INS)紧组合在实际环境中面临非线性误差和噪声干扰的问题,提出一种变分贝叶斯自适应卡尔曼滤波(VBAKF)的UWB/INS紧组合导航算法:通过引入变分贝叶斯方法,自适应调整系统噪声统计特性未知情况下的滤波精度... 针对超宽带(UWB)与惯性导航系统(INS)紧组合在实际环境中面临非线性误差和噪声干扰的问题,提出一种变分贝叶斯自适应卡尔曼滤波(VBAKF)的UWB/INS紧组合导航算法:通过引入变分贝叶斯方法,自适应调整系统噪声统计特性未知情况下的滤波精度,提升滤波性能,并引入高程约束模型,增强高程方向的定位精度;建立UWB/INS紧组合模型,给出VBAKF滤波算法,对比分析VBAKF与传统自适应卡尔曼滤波(AKF)的状态估计性能差异。实验结果显示,VBAKF方法在东、北、天方向的定位精度相比于传统方法可分别提高16.13%、21.43%和6.25%,表明VBAKF方法能显著提高系统状态估计的准确性和可靠性,有效提高UWB/INS组合导航系统在实测环境下的适应能力。 展开更多
关键词 变分贝叶斯 超宽带(UWB) 惯性导航系统(ins) 紧组合 组合导航
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Practical integrated navigation fault detection algorithm based on sequential hypothesis testing 被引量:8
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作者 Feng Yang Cheng Cheng Quan Pan Gongyuan Zhang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第1期146-149,共4页
In detecting system fault algorithms,the false alarm rate and undectect rate generated by residual Chi-square test can affect the stability of filters.The paper proposes a fault detection algorithm based on sequential... In detecting system fault algorithms,the false alarm rate and undectect rate generated by residual Chi-square test can affect the stability of filters.The paper proposes a fault detection algorithm based on sequential residual Chi-square test and applies to fault detection of an integrated navigation system.The simulation result shows that the algorithm can accurately detect the fault information of global positioning system(GPS),eliminate the influence of false alarm and missed detection on filter,and enhance fault tolerance of integrated navigation systems. 展开更多
关键词 residual Chi-square test integrated navigation fault detection.
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Intelligent fault-tolerant algorithm with two-stage and feedback for integrated navigation federated filtering 被引量:6
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作者 Li Cong Honglei Qin Zhanzhong Tan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第2期274-282,共9页
In order to take full advantage of federated filter in fault-tolerant design of integrated navigation system, the limitation of fault detection algorithm for gradual changing fault detection and the poor fault toleran... In order to take full advantage of federated filter in fault-tolerant design of integrated navigation system, the limitation of fault detection algorithm for gradual changing fault detection and the poor fault tolerance of global optimal fusion algorithm are the key problems to deal with. Based on theoretical analysis of the influencing factors of federated filtering fault tolerance, global fault-tolerant fusion algorithm and information sharing algorithm are proposed based on fuzzy assessment. It achieves intelligent fault-tolerant structure with two-stage and feedback, including real-time fault detection in sub-filters, and fault-tolerant fusion and information sharing in main filter. The simulation results demonstrate that the algorithm can effectively improve fault-tolerant ability and ensure relatively high positioning precision of integrated navigation system when a subsystem having gradual changing fault. 展开更多
关键词 integrated navigation federated filter fuzzy assess-ment fault-tolerant fusion information sharing.
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Robust adaptive UKF based on SVR for inertial based integrated navigation 被引量:8
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作者 Meng-de Zhang Hai-fa Dai +1 位作者 Bai-qing Hu Qi Chen 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2020年第4期846-855,共10页
Aiming at the problem that the traditional Unscented Kalman Filtering(UKF) algorithm can't solve the problem that the measurement covariance matrix is unknown and the measured value contains outliers,this paper pr... Aiming at the problem that the traditional Unscented Kalman Filtering(UKF) algorithm can't solve the problem that the measurement covariance matrix is unknown and the measured value contains outliers,this paper proposes a robust adaptive UKF algorithm based on Support Vector Regression(SVR).The algorithm combines the advantages of support vector regression with small samples,nonlinear learning ability and online estimation capability of adaptive algorithm based on innovation.Firstly,the SVR model is trained by using the innovation in the sliding window,and the new innovation is monitored.If the deviation between the estimated innovation and the measured innovation exceeds a given threshold,then measured innovation will be replaced by the predicted innovation,and then the processed innovation is used to calculate the measurement noise covariance matrix using the adaptive estimation algorithm.Simulation experiments and measured data experiments show that SVRUKF is significantly better than the traditional UKF,robust UKF and adaptive UKF algorithms for the case where the covariance matrix is unknown and the measured values have outliers. 展开更多
关键词 integrated navigation Support vector regression Unscented Kalman filter Robust filter Adaptive filter
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车载SINS/1D-LDV杆臂误差在线标定算法
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作者 张涛 聂晓明 +2 位作者 周健 王琦 向志毅 《国防科技大学学报》 北大核心 2025年第5期86-93,共8页
针对在一维激光多普勒测速仪(one-dimensional laser Doppler velocimeter,1D-LDV)和捷联惯导系统(strapdown inertial navigation system,SINS)构成的车载组合导航系统中,由于两者安装位置不同存在的杆臂速度误差问题,提出一种卡尔曼... 针对在一维激光多普勒测速仪(one-dimensional laser Doppler velocimeter,1D-LDV)和捷联惯导系统(strapdown inertial navigation system,SINS)构成的车载组合导航系统中,由于两者安装位置不同存在的杆臂速度误差问题,提出一种卡尔曼滤波在线标定算法对安装杆臂进行标定并补偿。通过引入在载体行进过程中速度方向始终保持载体行进方向的点,对传统杆臂速度误差模型进行了改进,使其能够准确反映1D-LDV与SINS输出的量测速度间的真实关系。车载实验结果表明,该标定算法能够有效标定1D-LDV与SINS间的杆臂误差。将经过杆臂误差补偿的1D-LDV量测速度与SINS的陀螺数据进行航迹推算,两组实验所得的水平定位误差由8.80 m和6.60 m分别降至7.07 m和5.48 m,在一定程度上提高了导航定位精度。 展开更多
关键词 组合导航 一维激光多普勒测速仪 杆臂误差 标定算法
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基于李群误差模型的SINS/DVL鲁棒滤波
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作者 郜鹏华 覃方君 +1 位作者 李开龙 钱镭源 《舰船科学技术》 北大核心 2025年第3期123-128,共6页
针对SINS/DVL组合导航传统误差模型中卡尔曼滤波在复杂水域误差较大的问题,引入李群右误差模型并提出一种自适应抗差算法。该算法在传统滤波的基础上,采用引入量测新息构建统计量,利用统计量所处区间来构建权值矩阵,进而修改量测噪声协... 针对SINS/DVL组合导航传统误差模型中卡尔曼滤波在复杂水域误差较大的问题,引入李群右误差模型并提出一种自适应抗差算法。该算法在传统滤波的基础上,采用引入量测新息构建统计量,利用统计量所处区间来构建权值矩阵,进而修改量测噪声协方差矩阵来解决滤波发散的问题。通过船载实验数据,所提的鲁棒滤波相较于传统滤波在位置和速度估计精度方面分别提高了56.3%和69.1%,相较于普通抗差滤波分别提高了7.9%和12.5%。研究结果表明,在李群右误差模型基础上利用自适应抗差算法可以有效提高滤波的抗干扰能力。 展开更多
关键词 组合导航 捷联惯导系统 李群 自适应抗差滤波
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城市遮挡与多路径环境下GNSS/INS组合定位方法 被引量:1
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作者 周勇 王鹤 王剑 《导航定位学报》 北大核心 2025年第1期113-118,共6页
为了进一步提高全球卫星导航系统(GNSS)/惯性导航系统(INS)组合导航在城市遮挡与多路径环境下的定位精度,提出一种基于自适应滤波的GNSS/INS组合导航定位提升方案:结合改进的自适应滤波算法,对多路径及遮挡物环境下的信号干扰问题进行研... 为了进一步提高全球卫星导航系统(GNSS)/惯性导航系统(INS)组合导航在城市遮挡与多路径环境下的定位精度,提出一种基于自适应滤波的GNSS/INS组合导航定位提升方案:结合改进的自适应滤波算法,对多路径及遮挡物环境下的信号干扰问题进行研究,以提高GNSS/INS组合导航定位的精度;然后通过改进自适应抗差滤波、新息异常判断及更合理地构建抗差因子,实现整合改进自适应滤波算法的GNSS/INS组合导航定位系统构建;最后在构建GNSS/INS组合导航定位整体系统框架的基础上,对系统关键技术包括改进的双窗口自适应滤波及新息占比的判断进行阐述。实验结果表明,通过对姿态角精度的提升效果及N、E、U三向位置误差减少情况2个方面进行对比,提出的方案对GNSS/INS组合导航定位的定位精度提升效果明显,运行更加可靠稳定。 展开更多
关键词 全球卫星导航系统(GNSS)/惯性导航系统(ins)组合导航 定位精度 松组合 新息异常 自适应滤波
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Free-walking:Pedestrian inertial navigation based on dual foot-mounted IMU 被引量:2
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作者 Qu Wang Meixia Fu +6 位作者 Jianquan Wang Lei Sun Rong Huang Xianda Li Zhuqing Jiang Yan Huang Changhui Jiang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第3期573-587,共15页
The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time perfor... The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance. 展开更多
关键词 indoor positioning inertial navigation system(ins) Zero-velocity update(ZUPT) internet of things(IoTs) Location-based service(LBS)
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一种顾及杆臂误差的GNSS/INS倾斜测量方法
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作者 王献中 杨哲华 +2 位作者 陈孔哲 孙峰 李鑫 《中国惯性技术学报》 北大核心 2025年第3期219-228,共10页
为提高全球导航卫星系统(GNSS)测绘一体机的作业效率和范围,提出了一种顾及杆臂误差的GNSS/惯性导航系统(INS)倾斜测量方法。首先利用测量杆顶端的实时动态差分定位(RTK)位置和杆尖的位置构成的向量建立INS航向观测方程,初始化INS航向... 为提高全球导航卫星系统(GNSS)测绘一体机的作业效率和范围,提出了一种顾及杆臂误差的GNSS/惯性导航系统(INS)倾斜测量方法。首先利用测量杆顶端的实时动态差分定位(RTK)位置和杆尖的位置构成的向量建立INS航向观测方程,初始化INS航向。然后利用GNSS/INS组合算法完成INS误差估计,并计算杆尖点的位置。在首次使用时,利用两个滤波器协同工作实现对杆臂误差的估计。测试结果表明,杆臂误差标定平均耗时为27.1 s,总体标定精度为4.3 mm;倾斜测量初始化平均时间为5.5 s;在45°以内的倾斜角内,开阔场景下的水平/高程误差小于2.0 cm/1.8 cm,相比不校准杆臂误差,精度分别提升33.9%和25.8%;GNSS遮挡场景下的水平/高程误差小于2.7 cm/3.0 cm,相比不校准杆臂误差,精度分别提升23.2%和23.2%,验证了所提方法能够在杆体倾斜以及GNSS遮挡环境下实现对杆尖点的高精度测量,且无需对中操作。 展开更多
关键词 GNSS/ins组合 惯导-RTK 倾斜测量 ins初始化
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GNSS/SINS组合导航自适应最大相关熵滤波算法研究
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作者 林雪原 潘新龙 孙玉霞 《大地测量与地球动力学》 北大核心 2025年第10期1043-1048,共6页
为提高复杂环境下最大相关熵滤波(MCKF)方法的滤波性能,提出一种GNSS/SINS组合导航系统的自适应最大相关熵滤波算法(AMCKF)。首先,根据当前和过去l-1个时刻的滤波故障检测函数值与检测门限的关系,形成0和1两种映射关系;然后,以映射值为... 为提高复杂环境下最大相关熵滤波(MCKF)方法的滤波性能,提出一种GNSS/SINS组合导航系统的自适应最大相关熵滤波算法(AMCKF)。首先,根据当前和过去l-1个时刻的滤波故障检测函数值与检测门限的关系,形成0和1两种映射关系;然后,以映射值为基础构成一个长度为l的窗,进而提出一种核宽度自适应调整算法;最后,将该核宽度自适应调整算法应用于MCKF中,进而构成组合导航系统的AMCKF算法。在测量高斯白噪声和重尾脉冲噪声环境下搭建GNSS/SINS组合导航系统实验,结果表明,AMCKF可以根据不同的测量噪声环境自适应调整核带宽值,进而提高组合导航系统的滤波精度;相对于KF和MCKF,AMCKF可分别提高位置精度约26.5%和16.4%,提高速度精度约15.5%和6.4%。 展开更多
关键词 组合导航 最大相关熵准则 核带宽 自适应滤波
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基于双调节因子的GNSS/SINS组合导航Sage-Husa自适应滤波算法
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作者 林雪原 孙炜玮 孙晓范 《大地测量与地球动力学》 北大核心 2025年第7期699-704,共6页
在GNSS/SINS组合导航系统中,当测量噪声方差发生变化时,Sage-Husa自适应滤波算法的测量噪声方差估计功能与故障检测功能有可能相互冲突。为解决该问题,首先,根据故障检测函数设计控制因子,对Sage-Husa自适应滤波算法的测量噪声方差估计... 在GNSS/SINS组合导航系统中,当测量噪声方差发生变化时,Sage-Husa自适应滤波算法的测量噪声方差估计功能与故障检测功能有可能相互冲突。为解决该问题,首先,根据故障检测函数设计控制因子,对Sage-Husa自适应滤波算法的测量噪声方差估计模型进行在线调整;然后,根据Sage-Husa自适应滤波算法严重依赖遗忘因子的特性,设计动态遗忘因子以对测量噪声方差进行准确跟踪,进而提出一种基于双调节因子(控制因子和动态遗忘因子)的Sage-Husa自适应滤波(DRSHAKF)算法;最后,基于施加了容错功能的Sage-Husa自适应滤波(SHAKF)算法及DRSHAKF算法,进行组合导航系统的仿真实验。结果表明,相对于SHAKF算法,DRSHAKF算法可以将测量噪声方差估计功能与故障检测函数进行有机融合,充分利用有用的测量信息,进而提高系统滤波精度。 展开更多
关键词 Sage-Husa算法 自适应滤波算法 组合导航系统 遗忘因子 控制因子
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Gaussian process regression-based quaternion unscented Kalman robust filter for integrated SINS/GNSS 被引量:6
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作者 LYU Xu HU Baiqing +3 位作者 DAI Yongbin SUN Mingfang LIU Yi GAO Duanyang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第5期1079-1088,共10页
High-precision filtering estimation is one of the key techniques for strapdown inertial navigation system/global navigation satellite system(SINS/GNSS)integrated navigation system,and its estimation plays an important... High-precision filtering estimation is one of the key techniques for strapdown inertial navigation system/global navigation satellite system(SINS/GNSS)integrated navigation system,and its estimation plays an important role in the performance evaluation of the navigation system.Traditional filter estimation methods usually assume that the measurement noise conforms to the Gaussian distribution,without considering the influence of the pollution introduced by the GNSS signal,which is susceptible to external interference.To address this problem,a high-precision filter estimation method using Gaussian process regression(GPR)is proposed to enhance the prediction and estimation capability of the unscented quaternion estimator(USQUE)to improve the navigation accuracy.Based on the advantage of the GPR machine learning function,the estimation performance of the sliding window for model training is measured.This method estimates the output of the observation information source through the measurement window and realizes the robust measurement update of the filter.The combination of GPR and the USQUE algorithm establishes a robust mechanism framework,which enhances the robustness and stability of traditional methods.The results of the trajectory simulation experiment and SINS/GNSS car-mounted tests indicate that the strategy has strong robustness and high estimation accuracy,which demonstrates the effectiveness of the proposed method. 展开更多
关键词 integrated navigation Gaussian process regression(GPR) QUATERNION Kalman filter ROBUSTNESS
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Fuzzy adaptive Kalman filter for indoor mobile target positioning with INS/WSN integrated method 被引量:10
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作者 杨海 李威 罗成名 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第4期1324-1333,共10页
Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobil... Pure inertial navigation system(INS) has divergent localization errors after a long time. In order to compensate the disadvantage, wireless sensor network(WSN) associated with the INS was applied to estimate the mobile target positioning. Taking traditional Kalman filter(KF) as the framework, the system equation of KF was established by the INS and the observation equation of position errors was built by the WSN. Meanwhile, the observation equation of velocity errors was established by the velocity difference between the INS and WSN, then the covariance matrix of Kalman filter measurement noise was adjusted with fuzzy inference system(FIS), and the fuzzy adaptive Kalman filter(FAKF) based on the INS/WSN was proposed. The simulation results show that the FAKF method has better accuracy and robustness than KF and EKF methods and shows good adaptive capacity with time-varying system noise. Finally, experimental results further prove that FAKF has the fast convergence error, in comparison with KF and EKF methods. 展开更多
关键词 inertial navigation system(ins wireless sensor network(WSN) mobile target integrated positioning fuzzy adaptive Kalman filter
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Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect 被引量:1
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作者 常国宾 柳明 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第2期575-583,共9页
In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm eff... In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated. 展开更多
关键词 inertial navigation system global positioning system(GPS) integrated system lever arm effect Kalman filter unscented Kalman filter
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