CN103429986B - 惯性导航划桨算法 - Google Patents
惯性导航划桨算法 Download PDFInfo
- Publication number
- CN103429986B CN103429986B CN201280009199.3A CN201280009199A CN103429986B CN 103429986 B CN103429986 B CN 103429986B CN 201280009199 A CN201280009199 A CN 201280009199A CN 103429986 B CN103429986 B CN 103429986B
- Authority
- CN
- China
- Prior art keywords
- time interval
- msub
- mrow
- compensation
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004422 calculation algorithm Methods 0.000 title description 27
- 239000013598 vector Substances 0.000 claims abstract description 53
- 238000004364 calculation method Methods 0.000 claims description 39
- 230000001186 cumulative effect Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 abstract description 29
- 230000001133 acceleration Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 16
- 239000011159 matrix material Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000737 periodic effect Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161444108P | 2011-02-17 | 2011-02-17 | |
US61/444,108 | 2011-02-17 | ||
PCT/US2012/025672 WO2012112908A2 (en) | 2011-02-17 | 2012-02-17 | Inertial navigation sculling algorithm |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103429986A CN103429986A (zh) | 2013-12-04 |
CN103429986B true CN103429986B (zh) | 2015-12-23 |
Family
ID=46673207
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201280009199.3A Expired - Fee Related CN103429986B (zh) | 2011-02-17 | 2012-02-17 | 惯性导航划桨算法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9534900B2 (zh) |
EP (1) | EP2676103A4 (zh) |
CN (1) | CN103429986B (zh) |
WO (1) | WO2012112908A2 (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103792843B (zh) * | 2014-01-24 | 2016-05-04 | 北京航天控制仪器研究所 | 一种惯性平台快速转动控制方法 |
CN103900571B (zh) * | 2014-03-28 | 2017-06-20 | 哈尔滨工程大学 | 一种基于惯性坐标系旋转型捷联惯导系统的载体姿态测量方法 |
US20160077166A1 (en) * | 2014-09-12 | 2016-03-17 | InvenSense, Incorporated | Systems and methods for orientation prediction |
US10231337B2 (en) | 2014-12-16 | 2019-03-12 | Inertial Sense, Inc. | Folded printed circuit assemblies and related methods |
CN105771219A (zh) * | 2014-12-24 | 2016-07-20 | 北京中体动力数字技术有限公司 | 桨频获取装置及其获取方法 |
CN105093248A (zh) * | 2015-08-11 | 2015-11-25 | 李�杰 | 基于北斗卫星导航技术的惯性导航系统 |
DE102016102797A1 (de) * | 2016-02-17 | 2017-08-17 | Rheinmetall Defence Electronics Gmbh | Sensor-Vorrichtung und Sensor-System zum Bestimmen einer Lage eines Fahrzeugs oder eines Teils des Fahrzeugs |
CN105892493B (zh) | 2016-03-31 | 2019-03-01 | 纳恩博(常州)科技有限公司 | 一种信息处理方法和移动装置 |
CN109724597B (zh) * | 2018-12-19 | 2021-04-02 | 上海交通大学 | 一种基于函数迭代积分的惯性导航解算方法及系统 |
FR3090853B1 (fr) * | 2018-12-21 | 2020-12-18 | Safran Electronics & Defense | Procédé de caractérisation d’une unité de mesure inertielle |
CN109579850B (zh) * | 2019-01-16 | 2022-04-29 | 中国海洋大学 | 基于对水速度辅助惯导的深水智能导航方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5422817A (en) * | 1991-08-13 | 1995-06-06 | Litton Systems, Inc. | Strapdown inertial navigation system using high order |
CN101561496A (zh) * | 2009-05-21 | 2009-10-21 | 北京航空航天大学 | 一种伪卫星和惯性组合导航系统的非线性补偿方法 |
CN101666650A (zh) * | 2009-09-30 | 2010-03-10 | 北京航空航天大学 | 一种sins/gps超紧致组合导航系统及实现方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5890093A (en) * | 1996-11-01 | 1999-03-30 | Litton Systems, Inc. | Sculling compensation in strapdown inertial navigation systems |
CA2246974A1 (en) * | 1998-04-23 | 1999-10-23 | Litton Systems, Inc. | Improved method and apparatus for obtaining attitude updates in a strapdown inertial navigation system |
AU2002315595B2 (en) * | 2001-06-04 | 2007-06-07 | Novatel Inc. | An inertial/GPS navigation system |
FR2826445B1 (fr) * | 2001-06-26 | 2003-09-19 | Sagem | Procede et dispositif pour generer des informations de navigation, et centrale de navigation inertielle incorporant un tel dispositif |
US6876926B2 (en) * | 2002-09-26 | 2005-04-05 | Honeywell International Inc. | Method and system for processing pulse signals within an inertial navigation system |
US20080071476A1 (en) * | 2006-09-19 | 2008-03-20 | Takayuki Hoshizaki | Vehicle dynamics conditioning method on MEMS based integrated INS/GPS vehicle navigation system |
US8086405B2 (en) * | 2007-06-28 | 2011-12-27 | Sirf Technology Holdings, Inc. | Compensation for mounting misalignment of a navigation device |
-
2012
- 2012-02-17 WO PCT/US2012/025672 patent/WO2012112908A2/en active Application Filing
- 2012-02-17 EP EP12747795.8A patent/EP2676103A4/en not_active Withdrawn
- 2012-02-17 US US13/985,644 patent/US9534900B2/en active Active
- 2012-02-17 CN CN201280009199.3A patent/CN103429986B/zh not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5422817A (en) * | 1991-08-13 | 1995-06-06 | Litton Systems, Inc. | Strapdown inertial navigation system using high order |
CN101561496A (zh) * | 2009-05-21 | 2009-10-21 | 北京航空航天大学 | 一种伪卫星和惯性组合导航系统的非线性补偿方法 |
CN101666650A (zh) * | 2009-09-30 | 2010-03-10 | 北京航空航天大学 | 一种sins/gps超紧致组合导航系统及实现方法 |
Non-Patent Citations (2)
Title |
---|
捷联惯导系统划桨效应补偿算法研究;舒东亮等;《弹箭与制导学报》;20060629;第26卷(第2期);第727-730页 * |
新的捷联惯性导航划桨误差补偿算法;张泽等;《吉林大学学报》;20101126;第40卷(第5期);第1460-1464页 * |
Also Published As
Publication number | Publication date |
---|---|
CN103429986A (zh) | 2013-12-04 |
US9534900B2 (en) | 2017-01-03 |
WO2012112908A2 (en) | 2012-08-23 |
EP2676103A2 (en) | 2013-12-25 |
EP2676103A4 (en) | 2017-05-31 |
US20140114569A1 (en) | 2014-04-24 |
WO2012112908A3 (en) | 2013-04-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103429986B (zh) | 惯性导航划桨算法 | |
EP1941236B1 (en) | Systems and methods for reducing vibration-induced errors in inertial sensors | |
JP6094026B2 (ja) | 姿勢判定方法、位置算出方法及び姿勢判定装置 | |
EP1585939B1 (en) | Attitude change kalman filter measurement apparatus and method | |
JP4789216B2 (ja) | ナビゲーション用途のための、改良されたgps累積デルタ距離処理方法 | |
US7840369B2 (en) | Apparatus and method for correcting bias of gyroscope mounted on mobile robot | |
US20100007550A1 (en) | Positioning apparatus for a mobile object | |
JP2904118B2 (ja) | 姿勢角検出装置及び方法 | |
US8812225B2 (en) | Electronic navigation device for a human and related methods | |
CN105043348A (zh) | 基于卡尔曼滤波的加速度计陀螺仪水平角度测量方法 | |
US11378403B2 (en) | Apparatus and method for terrain aided navigation using inertial position | |
CN104613965A (zh) | 一种基于双向滤波平滑技术的步进式行人导航方法 | |
CN108332775A (zh) | 提高星敏感器姿态测量精度的方法 | |
US8510079B2 (en) | Systems and methods for an advanced pedometer | |
CN113566850B (zh) | 惯性测量单元的安装角度标定方法、装置和计算机设备 | |
CN109489689B (zh) | 一种基于α-β滤波的星矢量测量误差在轨估计方法 | |
CN113959433A (zh) | 一种组合导航方法及装置 | |
JP4287975B2 (ja) | 姿勢計測装置 | |
KR101665375B1 (ko) | 이동체 항법 시스템 및 방법 | |
Yamagishi et al. | The Extended Kalman Filter With Reduced Computation Time for Pedestrian Dead Reckoning | |
JP2023160540A (ja) | 位置推定装置、位置推定方法および位置推定プログラム | |
CN116380078A (zh) | 一种高动态环境下捷联惯性导航系统姿态解算方法 | |
CN117705097A (zh) | 一种棱镜杆装置、地物碎部点测量方法、设备及介质 | |
KR101376597B1 (ko) | 이동체의 움직임 측정장치 및 그의 측정방법 | |
CN116972883A (zh) | 补偿挠曲变形和杆臂效应的高精度传递对准方法及系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: California, USA Patentee after: BEI SENSORS & SYSTEMS Co.,Inc. Address before: California, USA Patentee before: BEI SENSORS AND SYSTEMS Co.,Inc. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20171017 Address after: California, USA Patentee after: Creative inertia Co.,Ltd. Address before: California, USA Patentee before: BEI SENSORS & SYSTEMS Co.,Inc. Effective date of registration: 20171017 Address after: California, USA Patentee after: BEI SENSORS AND SYSTEMS Co.,Inc. Address before: American California Patentee before: SYSTRON DONNER INTERIAL, Inc. |
|
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20180217 |