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相关概念视频

Errors in Global Positioning System01:26

Errors in Global Positioning System

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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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Adjusting a Traverse01:12

Adjusting a Traverse

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In the site survey of a four-sided traverse, internal angles are essential to ensure geometric accuracy. The survey revealed that the sum of the measured internal angles was 359 degrees and 48 minutes, which is 12 minutes less than the expected 360 degrees. This discrepancy signals an error likely arising from measurement inaccuracies during the fieldwork.To rectify this error, the adjustment process involved distributing the 12-minute shortfall equally across the four internal angles. By...
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Introduction to Global Positioning System01:30

Introduction to Global Positioning System

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
56
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Common Leveling Mistakes and Errors01:17

Common Leveling Mistakes and Errors

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A survey team is tasked with determining the elevation difference between points Point A and Point B, separated by uneven terrain. They use a leveling instrument and a leveling rod.Common MistakesMisreading the Rod: During a backsight reading at Point A, the instrumentman observes the rod partially obscured by tall grass. Instead of reading 1.135 m, they mistakenly record 1.735 m due to the misalignment of the crosshair with the wrong graduation. This error adds 0.600 m to all subsequent...
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Design Example: Alignment of a Road Line Using GIS01:17

Design Example: Alignment of a Road Line Using GIS

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The alignment of a road line using Geographic Information Systems (GIS) is a critical process in civil engineering, combining advanced technology with practical decision-making. This methodology begins with the collection of geospatial data, including information on land cover, geomorphology, drainage patterns, slope, and contour details. Such data is typically acquired through satellite imagery and GIS tools, offering a comprehensive understanding of the terrain.Once the data is gathered, it...
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相关实验视频

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Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
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基于SE2(3) /EKF的改进初始调整方法,用于具有较大的误调角度的SINS/GNSS集成导航系统.

Jin Sun1,2, Yuxin Chen3, Bingbo Cui4,5

  • 1College of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing 210003, China.

Sensors (Basel, Switzerland)
|May 11, 2024
PubMed
概括
此摘要是机器生成的。

本研究引入了一种改进的初始对齐方法,用于紧固式惯性导航系统/全球导航卫星系统 (SINS/GNSS) 集成系统. 新方法提高了准确性和速度,特别是在具有较大的初始失调角度的系统中.

关键词:
谎言组 谎言组是一个谎言组.在SINS/GNSS综合导航系统中.全球导航卫星系统 (GNSS) 是一个全球导航卫星系统.最初的对齐初始对齐.很大的错位角度导致错位.带带下来的惯性导航系统 (SINS)三维特殊的欧几里德群和扩展的卡尔曼波器 (SE2(3) / EKF)

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科学领域:

  • 导航系统工程 导航系统工程
  • 控制理论 控制理论
  • 机器人技术 机器人技术 机器人技术

背景情况:

  • 与全球导航卫星系统 (GNSS) 集成的紧式惯性导航系统 (SINS) 对于准确的定位至关重要.
  • 传统的初始调整方法与较大的初始误调角度作斗争,影响性能.
  • 准确的状态错误表征对于强大的SINS/GNSS集成至关重要.

研究的目的:

  • 为面对较大的失调角度的SINS/GNSS集成系统开发改进的初始调整方法.
  • 为了提高初始对齐过程的准确性和速度.
  • 在具有挑战性的调整场景中解决传统方法的局限性.

主要方法:

  • 使用三维特殊欧几里德群和扩展的卡尔曼波器 (SE(3) /EKF) 框架.
  • 模型将错误 (态度,速度,位置) 作为Lie组的元素来准确量化非线性错误.
  • 包含一个组向量混合误差模型,考虑陀螺仪和加速度计的零偏差误差.
  • 导出了GNSS辅助的SINS动态初始对齐算法,利用速度和位置测量不变.

主要成果:

  • 基于SE(3) /EKF的对齐方法在具有较大的误对齐角度的场景中显示出更高的准确性.
  • 实现了将态度误差快速降低到较低的水平.
  • 提出的方法有效地克服了与传统对齐技术相关的挑战.

结论:

  • 拟议的基于SE(3) /EKF的初始调整方法为具有较大的失调角度的SINS/GNSS系统提供了卓越的性能.
  • 谎组理论为导航系统中状态错误的建模和量化提供了一个强大的框架.
  • 该方法提高了对齐速度和准确性,使其适用于苛刻的应用.