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基于T分布变分贝叶斯滤波的SINS/GPS组合导航  [PDF]
胡淼淼,敬忠良,董鹏,周贵荣,郑智明
- , 2018, DOI: 10.3785/j.issn.1008-973X.2018.08.007
Abstract: 为了解决组合导航中由于野值存在而导致传统滤波算法性能下降的问题,针对SINS/GPS组合导航系统模型提出基于T分布的变分贝叶斯高斯滤波算法,充分考虑野值所导致的噪声厚尾特性,将观测噪声建模为T分布.对系统状态和自举变量进行估计,并且在每个滤波时刻借助变分贝叶斯学习对状态估计进行迭代,以逼近真实后验分布.针对噪声存在野值的场景进行仿真验证,结果表明,在SINS/GPS组合导航系统中,当噪声存在野值时,基于T分布的变分贝叶斯组合导航滤波方法具有一定的鲁棒性,并且精度优于传统组合导航滤波方法.
Abstract: In order to resolve the problem of performance degradation caused by the outliers in the traditional filtering methods, a variational Bayesian Gaussian filtering (VBGF) algorithm based on Student-t distribution was proposed for SINS/GPS integrated navigation model. The proposed algorithm took full account of the characteristics of the heavy-tailedness caused by outliers, and the measurement noise was modeled as Student-t distribution. State variables were estimated with latent variables, and the estimation was iterated at each time to approximate the real joint posterior distribution of state and latent variables using the variational Bayesian learning. The results of simulation with outliers show that the proposed filtering algorithm is robust with outliers to a certain degree and reaches a higher precision than the traditional methods in the SINS/GPS integrated navigation system.
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.
The Application of Federated Kalman Filtering in SINS/GPS/CNS Intergrated Navigation System  [cached]
DENG Hong,LIU Guang-bin,CHEN Hao-ming,DENG Chun-lin
International Journal of Wireless and Microwave Technologies , 2012, DOI: doi: 10.5815/ijwmt.2012.02.03
Abstract: Federated filter was an important method to estimate high-precision navigation parameters based on “SINS/GPS/CNS”. A no-feedback federated filter with UD_UKF algorithm was designed in the paper, a threetime amendment scheme to correct navigation parameters was designed at the same time and the mathematical model of SINS/GPS/CNS was established in launch inertial coordinate system too. The paper discussed the simulation conditions and a lot of simulations were carried out to compare 2 aspects: (1)the performance between four navigation mode, which respectively is SINS, SINS/GPS, SINS/CNS, SINS/GPS/CNS;(2)the estimate precision of federated filter and that of centralized Kalman filter. The results of simulation showed that the designed federated filter and amendment scheme based on SINS/GPS/CNS had high estimate precision and led to gain high hitting precision of ballistic missile, that is to say position errors were less than 20 meter and velocity errors were less than 0.1m/s in simulation.
模糊预后验决策  [PDF]
系统工程理论与实践 , 1994,
Abstract: ?本文旨在把模糊数学方法同贝叶斯决策中的预后验决策方法相结合,提供了一个处理这类决策中出现的一些模糊性的方法。这种方法适用范围更广,更接近日常生活中遇到的决策问题。
百 合 鳞 片 快 繁 试 验 研 究  [PDF]
王海新,赵 艳,崔雪艳
北方园艺 , 2010, DOI: 10.11937/bfyy.201017056
Abstract:
下 江 忍 冬 扦 插 育 苗 试 验  [PDF]
屠娟丽,黄超群
北方园艺 , 2010, DOI: 10.11937/bfyy.201021039
Abstract:
茼 蒿 品 种 比 较 试 验  [PDF]
刘乐承,张洪涛
北方园艺 , 2010, DOI: 10.11937/bfyy.201023012
Abstract:
红 掌 苗 期 施 肥 试 验 研 究  [PDF]
许震寰1,,唐霄铧1,,白为1,,卓 明1,孙 婷1
北方园艺 , 2010, DOI: 10.11937/BFYY.201017045
Abstract:
水 果 黄 瓜 引 种 试 验  [PDF]
轩正英,蒋文磊,冀晓骋
北方园艺 , 2010, DOI: 10.11937/bfyy.201001015
Abstract:
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.
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