Papers by Keyword: SINS

Abstract: This paper proposes a novel nonlinear alignment method for the strapdown inertial navigation system (SINS). The method uses the simplified cubature Kalman filter (CKF) and velocity matching. The system equations are the navigation equation, the Euler angle differential equations and the inertial sensor measurement error models. The system equations are nonlinear, whereas the measurement equations are linear. The CKF is simplified under the condition of the linear measurement equations. The time updating cycle and measurement updating cycle are different. Finally inertial measurement unit experimental data are used to do alignment. The results show that the proposed method can effectively obtain an accurate initial attitude within a short time, thus also be considered a new and simple addition to the kit of solutions for SINS alignment.

Abstract: In order to improve the rapid response ability of the inertial navigation system mounted on the aircrafts which are onboard a ship, a novel rapid transfer alignment method of the strapdown inertial navigation system (SINS) on a rocking base is put forward.Interfering motions such as rolling, pitching, and yawing motions caused by sea waves are effectively used. Meanwhile, to remedy the effects of modeling uncertainty and adapt the nonlinear character in the error models, a robust SDRE (state-dependent Riccati equation) filter design is developed based on the infinity-norm minimization criterion. The filter presented can solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately. Simulation results show that the misalignment angle error estimation can be upgraded dramatically and the new algorithm is less sensitive to uncertainty noise.

Abstract: Aiming at the large dimensions of state vector and attitude angle periodical change of SINS in initial alignment, The alignment algorithm was presented in initial alignment of pipeline inspect gauge system (PIGs) for pipeline fault location and geometry measurement. The state and observation equation with the attitude angle, the position of the reference point and the velocity as observed vectors is established. Combined with the UKF algorithm, variable scale UKF algorithm (SUKF) is proposed to realize the initial alignment during the pipelines detector working. Comparing with UKF, experiment results showed that the steady-state misalignment of pitch, yaw and roll were 17.5’, 6’and 5’. The results indicate that the proposed algorithm is effective for practical applications.

Abstract: The principles and methods of their combined mode SINS/celestial navigation, and applying the theory of error state Kalman filter integrated navigation systems were analyzed. Derivation of a new measurement equation, written Kalman filtering process filter analysis was carried out to prove that the model has a good combination of inertial devices drift suppression effect.

Abstract: Targeting at the independent compensation characteristics of cone motion effect and sculling motion effect in traditional SINS Algorithm, this article studies the SINS Algorithm based on spiral vector which enables the cone motion effect and sculling motion effect to compensate at the same time, so as to realize the high precision calculating of attitude Angle and velocity vector. This paper analyzes the mathematical relationships between spiral vector and position-attitude dual quaternion, and then deduces the spiral vector differential equation in detail, which leads to the SINS Algorithm orchestration based on the spiral vector. Finally, considering the real application environment, the actual tests have shown that under the same conditions the spiral vector algorithm of SINS is more precise than the traditional algorithm in high dynamic environment and that the high sub-sample precision is higher than the low sub-sample.

Abstract: In this paper, a novel method which can identify error parameters of accelerometer accurately in the absence of high precision test turntable occasions is provided. The novel method makes use of artificial fish swarm algorithm (AFSA), permits to obtain an accurate identification by taking the acceleration norm as observation, and the standard variance of norm error as optimization index. The identification test is carried out on the platform of fiber optic gyro (FOG) strapdown inertial navigation system (SINS), and the 24-hours static navigation test is also executed. The validity of our method is verified by experiment results, which shows significant profit in practice.

Abstract: For the requirements and problems in remote monitoring and control system of electrical haulage shearer, this paper research the key technologies of shearers remote monitoring and control system, such as position and attitude testing, control strategy decision, communication real-time and reliability of network. Position and attitude testing method based SINS (Strap down Inertial Navigation System) was designed to measure position, attitude angle, speed and drum height of shearer together. The shearer control strategy based on work mode was proposed to control shearer working in optimal status. Finally, the network control model of shearer was established in order to analyze the time delay that effects on shearer control system.

Abstract: This paper describes an unconventional overall design of eight-rotor aerial robot. An INS/GPS based Kalman Filter solution is introduced in attitude estimate to meet the high precision and reliability requirement. In order to coordinate the contradiction between high load and high frequency, we present a new control method for multi-rotor aerial robot, witch take decoupling control on lift rotors and attitude control rotors. Results of simulation and flight test show that our design on aerial robot is effective.

Abstract: This paper investigated the vibration control based on intelligent materials for strapdown inertial navigation system (SINS) from theoretical analysis to simulation verification. At first, significance of vibration control in SINS and the disadvantages of the traditional vibration control methods were set forth. Then, intelligent material and structure were introduced to improve the situation. A method of combining active and passive vibration control based on piezoelectric ceramic had been put forward. Through modeling and designing PID and fuzzy PID controller separately, the simulation results show that both the model and the control methods are effective. Finally, its effectiveness and the further researched required to be done were summarized.

Abstract: Dynamics characteristics of SINS damping system in shock environment were analyzed by finite element method, as the deformation of dampers may leads to the accuracy loss of SINS. In addition, the influence of absorber stiffness and damping coefficient on dynamics characteristics were studied. The results indicate that the decoupling of vibrations is significant for the accuracy of SINS. However, considering the almost impossible of completely decoupled vibrations, its necessary to carry out an optimal design of the absorber stiffness and damping coefficient to maintain the accuracy of SINS while meeting the requirement of vibration isolation.