Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy...Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.展开更多
The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phas...The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.展开更多
A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about th...A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about the vertical axis of the vehicle. Then the errors of these sensors will have periodic variation corresponding to components along the body frame. Under this condition, the modulated sensor errors produce reduced system errors. Theoretical analysis based on a new coordinate system defined as sensing frame and test results are presented, and they indicate the method attenuates the navigation errors brought by the gyros' random constant drift and the accelerometer's bias and their white noise compared to the conventional method.展开更多
An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for t...An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for the alignment in the moving state is established and the observability of the system is analyzed. The results show that the SINS can successfully achieve the precision alignment in 10 min when the vehicle is moving toward the prearranged place after its staying for several seconds to perform the coarse alignment. The precision of alignment can also be improved in the moving state compared with that in the static state.展开更多
文摘Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.
文摘The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.
文摘A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about the vertical axis of the vehicle. Then the errors of these sensors will have periodic variation corresponding to components along the body frame. Under this condition, the modulated sensor errors produce reduced system errors. Theoretical analysis based on a new coordinate system defined as sensing frame and test results are presented, and they indicate the method attenuates the navigation errors brought by the gyros' random constant drift and the accelerometer's bias and their white noise compared to the conventional method.
文摘An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for the alignment in the moving state is established and the observability of the system is analyzed. The results show that the SINS can successfully achieve the precision alignment in 10 min when the vehicle is moving toward the prearranged place after its staying for several seconds to perform the coarse alignment. The precision of alignment can also be improved in the moving state compared with that in the static state.
