An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation syste...An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation system manager make optimum use of the various navigation sensors and allow rapid fault detection,isolation and recovery.The normal full fusion feedback method of federated unscented Kalman filter（UKF） cannot meet the needs of it.So a no-reset feedback federated Kalman filter architecture is developed and used in the autonomous navigation system.The minimal skew sigma points are chosen to improve the calculation speed.Simulation results are presented to demonstrate the advantages of the algorithm.These advantages include improved failure detection and correction,improved computational efficiency,and reliability.Additionally,its＇ accuracy is higher than that of the full fusion feedback method.展开更多
In the process of initial alignment for a strapdown inertial navigation system （SINS） on a stationary base, the east gyro drift rate is an important factor affecting the alignment accuracy of the azimuth misalignmen...In the process of initial alignment for a strapdown inertial navigation system （SINS） on a stationary base, the east gyro drift rate is an important factor affecting the alignment accuracy of the azimuth misalignment angle. When the Kalman filtering algorithm is adopted in initial alignment, it yields a constant error in the estimation of the azimuth misalignment angle because the east gyro drift rate cannot be estimated. To improve the alignment accuracy, a novel alignment method on revolving mounting base is proposed. The Kalman filtering algorithm of extending the measured values is studied. The theory of spectral condition number is utilized to analyze the degrees of observability of states. Simulation results show that the estimation accuracy of the azimuth misalignment angle is greatly improved through revolving mounting base, and the proposed method is efficient in initial alignment for a medium accurate SINS.展开更多
With research on the carrier phase synchronization and symbol synchronization algorithm of demodulation module, a synchronization circuit system is designed for GPS software receiver based on field programmable gate a...With research on the carrier phase synchronization and symbol synchronization algorithm of demodulation module, a synchronization circuit system is designed for GPS software receiver based on field programmable gate array （FPGA）, and a series of experiment is done on the hardware platform. The result shows the all-digital synchronization and demodulation of GPS intermediate frequency （IF） signal can be realized and applied in embedded real-time GPS software receiver system. It is verified that the decision-directed joint tracking algorithm of carrier phase and symbol timing for received signals from GPS is reasonable. In addition, the loop works steadily and can be used for receiving GPS signals using synchronous demodulation. The synchronization circuit for GPS software receiver designed based on FPGA has the features of low cost, miniaturization, low power and real-time. Surely, it will become one of the development directions for GPS and even GNSS embedded real-time software receiver.展开更多
基金supported by the Aviation Science Foundation(20070852009)
文摘An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation system manager make optimum use of the various navigation sensors and allow rapid fault detection,isolation and recovery.The normal full fusion feedback method of federated unscented Kalman filter（UKF） cannot meet the needs of it.So a no-reset feedback federated Kalman filter architecture is developed and used in the autonomous navigation system.The minimal skew sigma points are chosen to improve the calculation speed.Simulation results are presented to demonstrate the advantages of the algorithm.These advantages include improved failure detection and correction,improved computational efficiency,and reliability.Additionally,its＇ accuracy is higher than that of the full fusion feedback method.
文摘In the process of initial alignment for a strapdown inertial navigation system （SINS） on a stationary base, the east gyro drift rate is an important factor affecting the alignment accuracy of the azimuth misalignment angle. When the Kalman filtering algorithm is adopted in initial alignment, it yields a constant error in the estimation of the azimuth misalignment angle because the east gyro drift rate cannot be estimated. To improve the alignment accuracy, a novel alignment method on revolving mounting base is proposed. The Kalman filtering algorithm of extending the measured values is studied. The theory of spectral condition number is utilized to analyze the degrees of observability of states. Simulation results show that the estimation accuracy of the azimuth misalignment angle is greatly improved through revolving mounting base, and the proposed method is efficient in initial alignment for a medium accurate SINS.
基金supported in part by the National High Technology Research and Development Program of China (863 Program)(2006AA12A108)CSC International Scholarship (2008104769)
文摘With research on the carrier phase synchronization and symbol synchronization algorithm of demodulation module, a synchronization circuit system is designed for GPS software receiver based on field programmable gate array （FPGA）, and a series of experiment is done on the hardware platform. The result shows the all-digital synchronization and demodulation of GPS intermediate frequency （IF） signal can be realized and applied in embedded real-time GPS software receiver system. It is verified that the decision-directed joint tracking algorithm of carrier phase and symbol timing for received signals from GPS is reasonable. In addition, the loop works steadily and can be used for receiving GPS signals using synchronous demodulation. The synchronization circuit for GPS software receiver designed based on FPGA has the features of low cost, miniaturization, low power and real-time. Surely, it will become one of the development directions for GPS and even GNSS embedded real-time software receiver.
