卡尔曼波器调整直接和间接惯性导航系统/全球导航卫星系统集成的新方法
Adalberto J A Tavares1, Neusa M F Oliveira1
1Electronic Engineering Division, Aeronautics Institute of Technology, São José dos Campos 12228-900, Brazil.
Sensors (Basel, Switzerland)
|November 27, 2024
概括
本研究介绍了一种新的卡尔曼波器调方法,用于惯性导航系统/全球导航卫星系统 (INS/GNSS) 集成. 该方法通过使用蒙特卡洛模拟和现实数据优化过程噪声共变矩阵来提高导航准确性.
科学领域:
- 导航系统工程 导航系统工程
- 信号处理 信号处理
- 航空航天工程 航空航天工程
背景情况:
- 惯性导航系统 (INS) 受到传感器不确定性 (尺度因子,偏差,错位) 和环境变化的影响.
- 全球导航卫星系统 (GNSS) 接收器面临多路径,信号损失和噪声,影响定位准确性.
- 精确的卡尔曼波器调整对于有效的INS/GNSS集成至关重要.
研究的目的:
- 为INS/GNSS集成提出一种创新的卡尔曼波器调方法.
- 通过优化过程噪声共变矩阵 (Q) 来提高导航精度.
- 通过使用现实世界的商业平台数据来验证拟议的方法.
主要方法:
- 蒙特卡洛模拟使用理想轨迹数据和惯性传感器错误模型.
- 调整间接和直接卡尔曼波器的过程噪声共变矩阵 (Q).
- 考虑惯性传感器错误和导航错误 (位置,速度,态度) 进行Q估计.
主要成果:
- 提出的卡尔曼波器调技术的经过证明的效率和一致性.
- 使用商业INS/GNSS平台 (PINA-F,PINA-M) 的真实数据进行成功验证.
- 该方法在现实世界导航场景中被证明是有效的.
结论:
- 开发的卡尔曼波器调整方法显著提高了INS/GNSS集成的准确性.
- 该方法是稳固的,适用于实际的导航挑战.
- 这项工作为高精度导航系统设计提供了宝贵的贡献.
更多相关视频
06:52An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
Published on: May 26, 2020
7.9K
09:46MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions
Published on: May 10, 2012
12.6K
相关概念视频
01:30Introduction to Global Positioning System
46
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,...
46
01:26Errors in Global Positioning System
36
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,...
36
01:28Field Application of Global Positioning System
34
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
34
01:16Circular Orbits and Critical Velocity for Satellites
2.9K
The Moon orbits around the Earth. In turn, the Earth (and other planets) orbit the Sun. The space directly above our atmosphere is filled with artificial satellites in orbit. One can examine the circular orbit, the simplest kind of orbit, to understand the relationship between the speed and the period of planets and satellites with respect to their positions and the bodies that they orbit.
Nicolaus Copernicus (1473-1543) first suggested that the Earth and all other planets orbit the Sun in...
Nicolaus Copernicus (1473-1543) first suggested that the Earth and all other planets orbit the Sun in...
2.9K
01:30Types of Global Positioning System Surveys
49
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...
49
01:03Inertial Frames of Reference
7.0K
Newton’s first law is usually considered to be a statement about reference frames. It provides a method for identifying a special type of reference frame: the inertial reference frame. In principle, we can make the net force on a body zero. If its velocity relative to a given frame is constant, then that frame is said to be inertial. So, by definition, an inertial reference frame is a reference frame where Newton's first law holds valid. Newton's first law applies to objects with...
7.0K