CN103969671A - 一种基于非线性跟踪微分器的杆臂误差解算方法 - Google Patents
一种基于非线性跟踪微分器的杆臂误差解算方法 Download PDFInfo
- Publication number
- CN103969671A CN103969671A CN201410195891.0A CN201410195891A CN103969671A CN 103969671 A CN103969671 A CN 103969671A CN 201410195891 A CN201410195891 A CN 201410195891A CN 103969671 A CN103969671 A CN 103969671A
- Authority
- CN
- China
- Prior art keywords
- carrier
- lever arm
- coordinate system
- angular velocity
- nonlinear tracking
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410195891.0A CN103969671B (zh) | 2014-05-09 | 2014-05-09 | 一种基于非线性跟踪微分器的杆臂误差解算方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410195891.0A CN103969671B (zh) | 2014-05-09 | 2014-05-09 | 一种基于非线性跟踪微分器的杆臂误差解算方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103969671A true CN103969671A (zh) | 2014-08-06 |
CN103969671B CN103969671B (zh) | 2016-05-04 |
Family
ID=51239399
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410195891.0A Expired - Fee Related CN103969671B (zh) | 2014-05-09 | 2014-05-09 | 一种基于非线性跟踪微分器的杆臂误差解算方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103969671B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106679659A (zh) * | 2017-01-10 | 2017-05-17 | 中北大学 | 一种基于参数可调非线性跟踪微分器的信号去噪方法 |
CN107063241A (zh) * | 2017-03-16 | 2017-08-18 | 上海联适导航技术有限公司 | 基于双gnss天线及单轴mems陀螺的前轮测角系统 |
CN115201866A (zh) * | 2022-09-16 | 2022-10-18 | 中国船舶重工集团公司第七0七研究所 | 一种大型水面舰船惯导及北斗紧耦合方案空间修正方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101963513A (zh) * | 2010-09-03 | 2011-02-02 | 哈尔滨工程大学 | 消除水下运载体捷联惯导系统杆臂效应误差的对准方法 |
CN103217174A (zh) * | 2013-04-10 | 2013-07-24 | 哈尔滨工程大学 | 一种基于低精度微机电系统的捷联惯导系统初始对准方法 |
-
2014
- 2014-05-09 CN CN201410195891.0A patent/CN103969671B/zh not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101963513A (zh) * | 2010-09-03 | 2011-02-02 | 哈尔滨工程大学 | 消除水下运载体捷联惯导系统杆臂效应误差的对准方法 |
CN103217174A (zh) * | 2013-04-10 | 2013-07-24 | 哈尔滨工程大学 | 一种基于低精度微机电系统的捷联惯导系统初始对准方法 |
Non-Patent Citations (2)
Title |
---|
刘锡祥 等: "杆臂效应补偿中H∞滤波器的应用与设计", 《东南大学学报(自然科学版)》 * |
张斌 等: "SINS 传递对准中对杆臂效应的误差补尝研究", 《数字技术与应用》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106679659A (zh) * | 2017-01-10 | 2017-05-17 | 中北大学 | 一种基于参数可调非线性跟踪微分器的信号去噪方法 |
CN107063241A (zh) * | 2017-03-16 | 2017-08-18 | 上海联适导航技术有限公司 | 基于双gnss天线及单轴mems陀螺的前轮测角系统 |
CN107063241B (zh) * | 2017-03-16 | 2023-08-25 | 上海联适导航技术股份有限公司 | 基于双gnss天线及单轴mems陀螺的前轮测角系统 |
CN115201866A (zh) * | 2022-09-16 | 2022-10-18 | 中国船舶重工集团公司第七0七研究所 | 一种大型水面舰船惯导及北斗紧耦合方案空间修正方法 |
Also Published As
Publication number | Publication date |
---|---|
CN103969671B (zh) | 2016-05-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107990910B (zh) | 一种基于容积卡尔曼滤波的舰船大方位失准角传递对准方法 | |
CN103471616B (zh) | 一种动基座sins大方位失准角条件下初始对准方法 | |
CN108051866B (zh) | 基于捷联惯性/gps组合辅助水平角运动隔离的重力测量方法 | |
CN103900565B (zh) | 一种基于差分gps的惯导系统姿态获取方法 | |
CN101975872B (zh) | 石英挠性加速度计组件零位偏置的标定方法 | |
CN105698822B (zh) | 基于反向姿态跟踪的自主式惯性导航行进间初始对准方法 | |
CN103900608B (zh) | 一种基于四元数ckf的低精度惯导初始对准方法 | |
CN103575299A (zh) | 利用外观测信息的双轴旋转惯导系统对准及误差修正方法 | |
CN106840211A (zh) | 一种基于kf和stupf组合滤波的sins大方位失准角初始对准方法 | |
CN104165641A (zh) | 一种基于捷联惯导/激光测速仪组合导航系统的里程计标定方法 | |
CN103557864A (zh) | Mems捷联惯导自适应sckf滤波的初始对准方法 | |
CN103454662B (zh) | 一种基于ckf的sins/北斗/dvl组合对准方法 | |
CN103674064B (zh) | 捷联惯性导航系统的初始标定方法 | |
CN102519485A (zh) | 一种引入陀螺信息的二位置捷联惯性导航系统初始对准方法 | |
CN103900566B (zh) | 一种消除地球自转角速度对旋转调制型捷联惯导系统精度影响的方法 | |
CN103017787A (zh) | 适用于摇摆晃动基座的初始对准方法 | |
CN103604430A (zh) | 一种基于边缘化ckf重力辅助导航的方法 | |
CN107255474A (zh) | 一种融合电子罗盘和陀螺仪的pdr航向角确定方法 | |
CN103791918A (zh) | 一种舰船捷联惯导系统极区动基座对准方法 | |
CN107063245A (zh) | 一种基于5阶ssrckf的sins/dvl组合导航滤波方法 | |
CN102788597B (zh) | 基于空间稳定的旋转捷联惯导系统误差抑制方法 | |
CN103398725A (zh) | 一种基于星敏感器的捷联惯导系统初始对准的方法 | |
CN106405592A (zh) | 车载北斗载波相位周跳检测与修复方法及系统 | |
CN103575276A (zh) | 一种双轴旋转惯性导航系统初始对准模型降阶方法 | |
CN106705967A (zh) | 一种基于行人航位推算的精度改善的室内定位和方法 |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhao Yuxin Inventor after: Sun Chengjiao Inventor after: Zhou Guangtao Inventor after: Hao Qinshun Inventor after: Zhao Bo Inventor after: Sun Yantao Inventor after: Jiang Xin Inventor after: Xia Xiuwei Inventor after: Li Jiaxuan Inventor after: Liang Hong Inventor before: Zhou Guangtao Inventor before: Sun Chengjiao Inventor before: Hao Qinshun Inventor before: Zhao Bo Inventor before: Sun Yantao Inventor before: Jiang Xin Inventor before: Xia Xiuwei Inventor before: Li Jiaxuan Inventor before: Liang Hong Inventor before: Zhang Lili |
|
CB03 | Change of inventor or designer information | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160504 |
|
CF01 | Termination of patent right due to non-payment of annual fee |