Damping strapdown inertial navigation system based on a Kalman filter

Zhao, Lin; Li, Jiushun; Cheng, Jianhua; Hao, Yong

doi:10.1088/0957-0233/27/11/115102

Cited by 11 publications

(8 citation statements)

References 15 publications

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“…When the two loops work in parallel, Schuler oscillation errors within them will cancel each other out. As for the application of modern control theory, Reference [14] introduces a damping method based on Kalman filter. Through the foundation of the observation equation in both the internal damping state and the external damping state, the convergence time of Earth oscillation errors is shortened compared to the conventional damping method.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

2020

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It is necessary to locate the precise timing of switching into non-damping mode when the ship comes across zigzag maneuver, which helps avoid overshoot errors and maintain accuracy of ship's attitudes. In this paper, we propose a novel method to make the right decision on the damping/non-damping switch timing selection. Ship's in-motion data, collected by the gyrocompass system in advance, will first be pre-processed using wavelet denoising procedure and then treat as support vector machine (SVM) training input. Once the model is established, strapdown fiber optic gyrocompass (FOGC) can be equipped with the ability of self-judgment on when to cut off the alignment closed loops to become invulnerable and when to let it back online to remain stable by means of SVM classification schemes for switch timing recognition. Results show our method has better performance in the time of ships maneuver compared to the whole course damping network solution. Furthermore, transverse comparisons indicate our Wavelet-SVM method has better performance than BP neural network and traditional threshold method during maneuvering navigation process. INDEX TERMS Strapdown gyrocompass, alignment loops, switch timing, support vector machine, wavelet denoising.

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Section: Introductionmentioning

confidence: 99%

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

2020

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“…However, the design process of the damping network is complicated and only a single damping network cannot adapt to the change of external velocity error. Reference [25] adopts the Kalman filter to realize the damping and reduce the overshoot errors. However, the error of speed measurement device is considered as white noise, and the method to reduce the overshoot errors is not mentioned.…”

Section: Introductionmentioning

confidence: 99%

Damping Rotating Grid SINS Based on a Kalman Filter for Shipborne Application

2019

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The measurement error of the inertial measurement unit (IMU) significantly affects the navigation accuracy of the grid strap-down inertial navigation system (SINS) applied in polar regions. In this paper, the single-axis rotation modulation grid SINS is designed to suppress the navigation error caused by IMU constant error. Then on the basis of rotation modulation scheme, a novel external horizontal damping algorithm based on a Kalman filter is conducted to further suppress the 84.4 min Schuler oscillation caused by IMU random error. The Kalman filter is established based on the error model of shipborne grid SINS. When the reference velocity provided by Doppler velocity log is usable, the Schuler oscillation can be restrained through feedback calibration by calibrating the grid horizontal attitude errors and grid horizontal velocity errors. The simulation results demonstrate that the proposed external horizontal damping algorithm can efficiently suppress the Schuler oscillation, meanwhile compared with traditional external horizontal damping algorithm based on damping network, the proposed algorithm has the advantage of reducing the overshoot errors in the process of state switching. INDEX TERMS External horizontal damping, grid SINS, Kalman filter, rotation modulation.

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“…Thus, the goal of suppressing oscillation errors is achieved. A Kalman filter can also be used to compensate the oscillation errors (Zhao et al, 2016). After introducing damping, the original Shuler tuning condition of the INS is destroyed.…”

Section: Introductionmentioning

confidence: 99%

Switching Method for Long-Term Inertial Navigation System Based on Switched Control

et al. 2019

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The switching between a damped and an undamped Inertial Navigation System (INS) is an important technical method to ensure its long-term accuracy. The stability of switching is of great importance. This paper studies the switching stability problem between a damped and an undamped INS. A model of an inertial navigation switching system is established by introducing switched control. The average dwell time method is used to analyse stability and a sufficient condition of exponential stability is given. The condition is also extended to the switched system containing constant disturbance and the sufficient condition of exponential stability. The effect of introducing switched control for the smooth operation of the system is verified and the accuracy of a long-term INS is improved effectively.

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Damping strapdown inertial navigation system based on a Kalman filter

Cited by 11 publications

References 15 publications

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

Damping Rotating Grid SINS Based on a Kalman Filter for Shipborne Application

Switching Method for Long-Term Inertial Navigation System Based on Switched Control

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