The invention discloses an 8-position strapdown inertial navigation system level calibration method based on speed observation. The method mainly includes installing an inertial unit on a dual-shaft rotary table with an incubator, setting the temperature of the incubator of the rotary table, supplying power to the strapdown inertial navigation system, after the temperature is stable, initializinga navigation system and a Kalman filter, orderly rotating the inertial unit by 8 positions through the rotary table, fully exciting errors of the inertial unit, inputting the speed error, computed bynavigation, as observed quantity into the Kalman filter, estimating 24 error parameters of the inertial unit, respectively setting N different temperature points of the incubator, repeating the 8-position calibration processes, and fitting error parameters of the multiple temperature points. The method has the advantages of fast calibration rate and independence of the rotary table precision, canrealize temperature compensation for the inertial unit and is free of a complex temperature compensation test.

8-position strapdown inertial navigation system level calibration method based on speed observation

The invention discloses a positioning information fusion method for a dual marine aided inertial navigation system in a polar region. The positioning information fusion method is used for solving theproblem that positioning accuracy is lost in case of master inertial navigation failure due to the fact that the dual marine aided inertial navigation system in the polar region is lack of informationfusion. An error equation of the dual marine aided inertial navigation system is rescheduled in a grid coordinate system in the polar region, a combined error state equation and an observation equation of the dual marine aided inertial navigation system in the polar region are established, gyro drift and accelerometer zero offset of a marine aided inertial navigation system of a monoaxial rotational modulation laser gyro are estimated, certainty positioning error of the marine aided inertial navigation system is subjected to prediction compensating according to a positioning error predictionmodel of the marine aided inertial navigation system of a monoaxial rotational modulation laser gyro in the polar region, thus, positioning accuracy can still be ensured under the condition that a marine aided inertial navigation system of a biaxial rotational modulation laser gyro as a master inertial navigation is in failure, and the navigation positioning capability of a cruising ship in the polar region is further improved under the condition of guaranteeing high reliability.

Positioning information fusion method for dual marine aided inertial navigation system in polar region

The invention provides a positioning method of an indoor wheel type robot based on double MEMS (Micro-electromechanical Systems)-IMU (Inertial Measurement Unit). The positioning method comprises the following steps: firstly, acquiring movement information of wheels and a vehicle body through a first inertial navigation module and a second inertial navigation module respectively and independently resolving to obtain first positioning information and second positioning information which include positions, speeds and attitude angles of the vehicle body; and compensating a pitch angle of the firstinertial navigation module through a pitch angle of the second inertial navigation module, so as to establish a mounting angle of the first module by utilizing the compensated pitch angle and the first attitude angle; meanwhile, measuring a wheel rotary angle speed of wheels through the first inertial navigation module and converting to obtain movement speed information of the vehicle body and providing the movement speed information for the first inertial navigation module and the second inertial navigation module respectively; constructing motion constraints respectively and carrying out combined resolving, so as to improve the precision of first and second positioning information; and finally, improving the positioning precision of a whole system through combination of the first and second positioning information and space geometrical information of mounting positions of the two modules. Therefore, one high-precision and low-cost indoor robot relative positioning method is realized.

Positioning method of indoor wheel type robot based on double MEMS (Micro-electromechanical Systems)-IMU (Inertial Measurement Unit)

The invention relates to a polar region inertial navigation method based on a virtual ball normal vector model. The method comprises steps of initial navigation parameters being bound, and the real-time data information from an IMU inertial measurement unit and an altimeter being received; establishing a virtual ball normal vector model, and completing quaternion-based position representation andnavigation parameter conversion; establishing a differential equation based on the position, speed and attitude of the virtual ball normal vector model under the earth-centered earth-fixed coordinatesystem, and completing the calculation of navigation parameters according to the data information received in real time; and converting the navigation parameters under the earth-centered earth-fixed coordinate system into required navigation parameters under the coordinate system and outputting the required navigation parameters. The quadruple position representation method has global applicability, and avoids complex switching between a polar region and a non-polar region in a traditional scheme. The method only relates to accurate curvature radius calculation of the meridian circle and the mortise unitary circle in the reference ellipsoid model, an error problem caused by approximate curvature radius calculation under the reference ellipsoid model in a traditional method is avoided, andcalculation precision is improved.

Polar region inertial navigation method based on virtual ball normal vector model

The invention discloses a water surface target rescue state estimation method under the condition of transient losing of observed quantity, and relates to the technical field of water surface target rescue tracking. The technical purpose is to improve the instantaneity and accuracy of water surface target rescue when the observed quantity is lost transiently. The water surface target rescue stateestimation method is characterized by comprising the steps of building a state transfer model based on historical measurement; designing a self-adaptive adjusting strategy of historical measurement data amount M; based on the state transfer model and the self-adaption adjusting strategy of M, building a target state estimation system model under the condition of transient losing of the observed quantity; based on weights of a Chapman-Kolmogorov equation, self-adaptively updating the strategy design and improving a Gaussian mixed capacity Kalman filter to solve the problem that weights of Gaussian components are kept constant when the observed quantity is lost. When the observation quantity is normal, a conventional Gaussian mixed capacity Kalman filter is adopted, when the observation quantity is transiently lost, a Gaussian component weight self-adaption adjusting strategy is added, and the state estimation precision is improved.

Water surface target rescue state estimation method under condition of transient losing of observed quantity

The invention, for solving a problem of lack of information fusion and effective cooperative positioning method in redundant configuration laser gyroscope marine inertial navigation systems, discloses a redundant configuration laser gyroscope marine inertial navigation cooperative positioning method. The method includes the steps of: Kalman filtering to combined error status, system noise influence analysis, on-line evaluation on relative performances of biaxial rotary modulated laser gyroscope marine inertial navigation, and prediction and compensation of deterministic error of monoaxial rotary modulated laser gyroscope marine inertial navigation, etc. The method achieves on-line evaluation of the relative performances of two sets of biaxial rotary modulated laser gyroscope marine inertial navigation in redundant configuration without external basis information conditions, and meanwhile improves the positioning precision of monoaxial rotary modulated laser gyroscope marine inertial navigation in redundant configuration. The method is used for information fusion among redundant configuration laser gyroscope marine inertial navigation systems in long endurance and at high navigation precision, and has important meanings for improving viability of naval vessels under severe sea conditions.

Redundant configuration laser gyroscope marine inertial navigation cooperative positioning method

The single-axis rotational inertial system (RINS) can average out the biases of inertial sensor perpendicular to rotation axis However, these inertial sensor biases will introduce Schuler oscillation and saw-tooth error in the velocity output Redundant RINS configuration is widely used in the ships and underwater vehicles However, the information fusion between the redundant systems is ignored In this paper, a joint error model and a measurement model are constructed for the redundant RINSs, whereby a novel Kalman filter is designed to estimate the inertial sensor biases The designed Kalman filter does not require external reference information aiding Based on the estimates of the inertial sensor bias, a velocity error prediction model is designed to predict the velocity error caused by inertial sensor biases By velocity error output correction, the velocity fluctuation is decreased by 30% As a typical application, the compensated velocity output from the master RINS is provided for the slave inertial navigation system (INS) to accomplish transfer alignment Simulation test and experiments are conducted to verify the effectiveness of the proposed method

Wu Wenqi

Papers

Redundant configuration laser gyroscope marine inertial navigation cooperative positioning method

Positioning information fusion method for dual marine aided inertial navigation system in polar region

Redundant RINS Information Fusion with Application to Shipborne Transfer Alignment