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Global Optimality for Generalized Federated Filter
广义联邦滤波器的全局最优性

GU Qi-Tai,FANG Jing,
顾启泰
,方靖

自动化学报 , 2009,
Abstract: Based on the matrix theory and the information sharing principle, the analytic relation among centralized Kalman filtering, decentralized filtering, and federated filtering is derived. It is proved that the global filtering of federated filters is optimal only when the dimensions of the master filter and the local filters are totally equal. If the dimensions of the master filter and the local filters are different, then only suboptimal solution can be obtained. The structure of a generalized federated filter is proposed. In terms of the information sharing principle, the information matrix of the one-step prediction state error and the one-step prediction state are reset to obtain the suboptimal solution of the global filtering. Furthermore, the suboptimal solution of the global filtering is used as observation feedback to correct the one-step prediction state and yield the optimal solution of the global filtering. The optimal feedback gain matrix is mathematically derived, so the filtering result is theoretically proved to be equivalent to the centralized Kalman filtering. The result of the simulation experiments with a dual-SINS/GPS integrated navigation system demonstrates the validity of the algorithm.
Integrated Navigation Technology Using Federated Kalman Filter Based on BD Position System
北斗双星定位系统上的基于联邦Kalman滤波的组合导航技术

YANG Yang,ZHANG Su-Qin,DAI Gui-Lan,
杨阳
,张素琴,戴桂兰

计算机科学 , 2007,
Abstract: The familiar navigation technology such as inertial navigation,GPS navigation has on longer satisfied all requirements on modern electronic warfare.The integrated navigation technology which is multi equimpent,redundancy designed,multi functional are widely applied on many country.This paper designed integrated navigation technology using Federated Kalman filter based on BD position system,executed some simulation experiment and some practical experiment,validated the feasibility of integrated navigation technology using Federated Kalman filter based on BD position system,established foundation stone of the widely application of integrated navigation technology using Federated Kalman filter based on BD position system.
Gyrocompass Alignment Method of Sins Based on Kalman Filtering Pretreatment and Dynamic Gain Adjustment on a Rocking Base  [PDF]
Long-Hua Ma,Kai-Li Wang,Hui Li
Information Technology Journal , 2013,
Abstract: Land combat vehicles are inevitably subject to the vibration disturbance by wind gust or engine idling, etc. in the stationary initial alignment process of the Strapdown Inertial Navigation System (SINS). Obviously, it’s necessary to consider the impact of vibration disturbance during the alignment process to achieve better performance. In order to guarantee the alignment accuracy on the rocking base and shorten the convergence time of alignment, a gyrocompass alignment method of SINS based on Kalman filter pretreatment and dynamic gain adjustment was proposed. The output of gyros and accelerometers was firstly pre-filtered by Kalman filter to remove the impact of high-frequency small-amplitude rocking interference. The low-frequency large-amplitude rocking interference on vehicle was tracked through dynamic gain adjustment of gyrocompass alignment. The vehicle test of a ring laser SINS showed that the new gyrocompass alignment method can suppress high-frequency disturbances when the vehicle underwent low-frequency large-amplitude rocking interference. And the alignment process can track the attitude change of vehicle caused by low-frequency large-amplitude rocking interference. Comparing with traditional gyrocompass alignment algorithm and Kalman filter alignment method, the performance of the new gyrocompass alignment method is much improved by filtering random noise caused by vibration disturbance of vehicle effectively.
弹道导弹的捷联惯性/天文组合导航方法
Ballistic missile SINS/CNS integrated navigation method
 [PDF]

钱华明,郎希开,钱林琛,彭宇,王海涌
- , 2017, DOI: 10.13700/j.bh.1001-5965.2016.0390
Abstract: 摘要 针对传统的捷联惯性/天文 (SINS/CNS)组合导航系统不能精确估计加速度计偏置而导致导航误差发散的问题,提出一种基于星光折射间接敏感地平的捷联惯性/天文 (SINS/RCNS)组合导航方法。利用星敏感器测量星光折射角,结合大气折射模型得到的折射视高度来抑制位置误差的发散。推导了基于星光折射新的量测方程,分析了折射星数目与导航精度的关系,当使用多颗折射星时能够精确估计加速计偏置,从而能够完全抑制位置误差的发散,并对系统进行可观测性分析。通过卡尔曼滤波实现了状态估计。仿真结果表明:本文方法的导航精度优于传统方法,有效抑制了位置误差的发散,验证了本文方法的有效性。
Abstract:Considering that traditional strap-down inertial/celestial integrated navigation system (SINS/CNS) cannot accurately estimate the accelerometer bias, which can cause the divergence of navigation errors, a strap-down inertial/celestial integrated navigation method based on the stellar refraction (SINS/RCNS) was proposed. The starlight refraction angle obtained from the stellar sensor and the apparent height obtained from atmospheric refraction model were combined to inhibit the divergence of position error. A novel measurement equation based on stellar refraction was developed and the relationship between the number of used refraction stars and navigation accuracy was analyzed. When multiple refraction stars are used, the proposed method can accurately estimate the accelerometer bias so that the position errors can be inhibited completely, and its observability was analyzed. The estimation of the state of system was realized through the Kalman filter. The simulation results indicate that the precision of navigation based on the proposed method is better than that of the traditional method and inhibits the divergence of the position error effectively, which shows the validation of the proposed method.
Comparison of different integrated patterns of SINS/GPS system undercondition of GPS signal invalidation
卫星信号失效条件下SINS/GPS不同组合方式的性能比较

XU Gang,HUANG Guo-rong,PENG Xing-zhao,XUE Dong,GAO Yuan,
许 刚
,黄国荣,彭兴钊,薛 冬,高 圆

计算机应用研究 , 2012,
Abstract: In order to investigate the navigation capability of SINS/GPS loosely-couple integrated navigation system and the tightly-coupled system under the satellite signal invalidation, this paper established the math model of the loosely-coupled system and the tightly-coupled system based on the Kalman filtering and set up emulators of them on the basis of the analysis of error equation of SINS. The simulation results indicate that the precision of the SINS/GPS tightly-couple integrated navigation is obviously better than the loosely-couple, and the tightly-coupled system can be held and have a better precision than that of single SINS system at the same time even if the number of the visible satellites is less than four or just one caused by the satellite signal invalidation. This shows that tightly-coupled system have a good precision and reliability.
Initial Alignment for SINS based on Low-cost IMU  [cached]
Jiong Yi,Lei Zhang,Rong Shu,Jianyu Wang
Journal of Computers , 2011, DOI: 10.4304/jcp.6.6.1080-1085
Abstract: The initial alignment is vital to the strapdown inertial navigation system (SINS). In this work, an efficient initial alignment method for SINS based on a six-degree of freedom inertial measurements unit (IMU) is proposed. The three dimensional linear accelerations and angular rates are acquired from a data acquisition board which contains a low-cost IMU. Preprocess the gyro data and modeling the SINS error model for initial alignment. Analysis the observability of this SINS error model and then simplify the model based on the observability. A kalman filter is conducted to estimate the misalignment angle. The results show that the initial alignment method proposed in this paper is advisable for a SINS based on low-cost IMU on a stationary base.
SINS/CNS组合导航的导航星表构建方法  [PDF]
马宝林, 吴杰, 张洪波
MA Baolin
, WU Jie, ZHANG Hongbo

- , 2016, DOI: 10.11887/j.cn.201603011
Abstract: 构建满足完备性、精简性和查询快速性的导航星表是实现捷联惯性/星光组合导航系统的重要前提和保证。以天文学中的Tycho-2星表作为导航星表的初始星表,对球矩形分区方法进行了改进,包括明确分区及子分区的划分方法,提出了备选导航星的选择策略。实验结果表明,采用改进型球矩形分区方法的备选导航星数量最多只占赤纬带法导航星的19.37%,仅占全天遍历法导航星的3.12%。因此,改进型球矩形分区方法更加精准,查询更快捷,更适用于捷联惯性/星光组合导航系统。
Building a guide star catalog which has the characteristics of completeness, simplicity and query rapidity is an important prerequisite and guarantee to realize the SINS/CNS(strapdown inertial navigation system/celestial navigation system). The Tycho-2 catalog in astronomy was selected as the initial catalog of the guide star catalog. The ball rectangle partition method was improved on the basis of the Tycho-2 catalog. It included how to divide the partition and the sub partition. The selection strategy of the alternative guide star was also creatively proposed. The experimental results show that the number of the alternative guide stars using the improved ball rectangle partition method most accounts for 19.37% of the guide stars used for the declination zone method and only accounts for 3.12% of the guide stars used for the traverse method. Therefore, the improved ball rectangle partition method is more accurate and rapid, and is more suitable for the strapdown inertial navigation system/celestial navigation system.
A New Type of Federated Least Square Filtering Algorithm and Its Application
新型联邦最小二乘滤波算法及应用

ZHAO Long,CHEN Zhe,
赵龙
,陈哲

自动化学报 , 2004,
Abstract: A new type of federated filtering based on the least square estimation is pre-sented,which is defined as federated least square filtering(FLSF),while the statistic informa-tion of the system noise and observation noise are uncertain in order to overcome the limita-tion of federated Kalman filtering(FKF)in multi-sensor information fusion.The relationshipbetween FLSF and FKF is discussed in some detail.These two methods are compared furtherfor practical application in inertial navigation system/double-star system/global positioningsystem(INS/DS/GPS)integrated navigation system.The simulating results indicate thatthe FLSF has better filtering accuracy than FKF,while the statistic information of thesystem noise and observation noise are uncertain.
A Strapdown Interial Navigation System/Beidou/Doppler Velocity Log Integrated Navigation Algorithm Based on a Cubature Kalman Filter  [PDF]
Wei Gao,Ya Zhang,Jianguo Wang
Sensors , 2014, DOI: 10.3390/s140101511
Abstract: The integrated navigation system with strapdown inertial navigation system (SINS), Beidou (BD) receiver and Doppler velocity log (DVL) can be used in marine applications owing to the fact that the redundant and complementary information from different sensors can markedly improve the system accuracy. However, the existence of multisensor asynchrony will introduce errors into the system. In order to deal with the problem, conventionally the sampling interval is subdivided, which increases the computational complexity. In this paper, an innovative integrated navigation algorithm based on a Cubature Kalman filter (CKF) is proposed correspondingly. A nonlinear system model and observation model for the SINS/BD/DVL integrated system are established to more accurately describe the system. By taking multi-sensor asynchronization into account, a new sampling principle is proposed to make the best use of each sensor’s information. Further, CKF is introduced in this new algorithm to enable the improvement of the filtering accuracy. The performance of this new algorithm has been examined through numerical simulations. The results have shown that the positional error can be effectively reduced with the new integrated navigation algorithm. Compared with the traditional algorithm based on EKF, the accuracy of the SINS/BD/DVL integrated navigation system is improved, making the proposed nonlinear integrated navigation algorithm feasible and efficient.
基于惯性系采用Kalman滤波的车载SINS行进间对准方法  [PDF]
缪玲娟,高伟熙,沈军,郭子伟
兵工学报 , 2013, DOI: 10.3969/j.issn.10001093.2013.02.003
Abstract: ?介绍了惯性系中基于重力加速度信息进行粗对准的实现方法。在此基础上通过推导以地心惯性坐标系为导航系的捷联惯性导航系统(SINS)误差方程,建立了与惯性系对准算法相匹配的状态模型,提出了一种采用Kalman滤波实现基于惯性系的SINS行进间精对准方法。计算机仿真实验结果表明,文中所提出的基于惯性系的采用Kalman滤波的车辆行进间精对准方法,可有效地降低干扰噪声的影响,提高初始对准的精度。此外,该方法相对于基于地理坐标系进行滤波的方法,简化了滤波模型,较大的降低了计算量。
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