High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders

Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Jian, Wang

doi:10.1016/j.isatra.2016.10.020

Cited by 69 publications

(21 citation statements)

References 29 publications

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“…The picture on the right shows the particle distribution, a black circle represents a particle, the picture on the left shows the values of the two parameters. Obviously, the position corresponding to minimum entropy is obtained, and the corresponding position [8,12000] is selected as the optimal parameters. That is to say, the optimal decomposition layer number k is 8, the optimal penalty factor α is 12,000, and the best autocorrelation of IMFs can be obtained by setting this way.…”

Section: Experiments Results and Analysismentioning

confidence: 99%

“…The MEMS gyroscope based on Coriolis acceleration mainly conveys vibration between the drive mode and the detection mode [1,2], due to its advantages such as robustness, low noise, and low power consumption [3], MEMS technology and gyroscopes have been widely used in aviation, aerospace, measuring and other important fields [4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

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A Temperature Error Parallel Processing Model for MEMS Gyroscope based on a Novel Fusion Algorithm

Cao

Shen

2020

Electronics

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To deal with the influence of temperature drift for a Micro-Electro-Mechanical System (MEMS) gyroscope, this paper proposes a new temperature error parallel processing method based on a novel fusion algorithm. Firstly, immune based particle swarm optimization (IPSO) is employed for optimal parameters search for Variational Modal Decomposition (VMD). Then, we can get the optimal decomposition parameters, wherein permutation entropy (PE) is employed as the fitness function of the particles. Then, the improved VMD is performed on the output signal of the gyro to obtain intrinsic mode functions (IMFs). After judging by sample entropy (SE), the IMFs are divided into three categories: noise term, mixed term and feature term, which are processed differently. Filter the mixed term and compensate the feature term at the same time. Finally, reconstruct them and get the result. Compared with other optimization algorithms, IPSO has a stronger global search ability and faster convergence speed. After Back propagation neural network (BP) is enhanced by Adaptive boosting (Adaboost), it becomes a strong learner and a better model, which can approach the real value with higher precision. The experimental result shows that the novel parallel method proposed in this paper can effectively solve the problem of temperature errors.Electronics 2020, 9, 499 2 of 21 circuit design structure to reduce the damping coefficient, which is convenient and economical [15]. Yang et al. adopted a new concept whereby the on-chip temperature compensation of the MEMS gyroscope is realized by the on-chip sensor. In order to make the on-chip temperature of the micro gyroscope well controlled, the newly integrated serpentine micro heater is used to achieve this function [16]. Cui et al. analyzed the working principle of the gyroscope and adopted the vibration compensation of the drive mode, which has a good effect [17]. However, the hardware compensation cost is high and it is too difficult to implement.The second is through software compensation, it includes the removal of noise and temperature compensation. The software compensation method mainly establishes a model for the drift part and the noise part of the MEMS gyroscope to remove noise and compensate drift. For the establishment of the temperature drift model, the reference temperature and the corresponding temperature drift output obtained in advance are used as a set of training set data. The model is established after the learning and training of the algorithm. When the temperature value is input, the model can predict the output value as compensation. There are two main methods. The first one is serial processing, which first uses a filter to perform noise reduction on the signal and then uses a model to eliminate drift. The other one is parallel processing, which refers to extracting and processing noise components and drift components separately. Dominik uses a combination of experiments and numerical values to provide accurate ceramic acceleration at higher temperature [18]. Yang uses a sim...

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Section: Experiments Results and Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Temperature Error Parallel Processing Model for MEMS Gyroscope based on a Novel Fusion Algorithm

Cao

Shen

2020

Electronics

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“…Cheng proposed a modification of an radial basis function neural network (RBF ANN) based on temperature compensation models for interferometric fiber optical gyroscopes (IFOGs) [20]. Huang proposed that the appropriate filter be designed according to different error models; they then combined the multi-model method with the extended Kalman filter (EKF) method to estimate the state optimally, which improves the accuracy and effectiveness of the sensor [21]. Xu proposed a federated extended finite impulse response (EFIR) filter to improve the accuracy of the sensor [22].…”

Section: Introductionmentioning

confidence: 99%

Temperature Drift Compensation for High-G MEMS Accelerometer Based on RBF NN Improved Method

Zhu

Pang²,

Zhang

et al. 2019

Applied Sciences

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In this paper, the method for compensating the temperature drift of high-G MEMS accelerometer (HGMA) is proposed, including radial basis function neural network (RBF NN), RBF NN based on genetic algorithm (GA), RBF NN based on GA with Kalman filter (KF), and the RBF NN + GA + KF method compensated by the temperature drift model. First, this paper introduces an HGMA structure working principle, conducts a finite element analysis, and produces the results. The simulation results show that the HGMA working mode is the 1st order mode, and its resonant frequency is 408 kHz. The 2nd order mode resonant frequency is 667 kHz, and the gap with the first mode is 260 kHz, indicating that the coupling movement between the two modes is tiny, so the HGMA has good linearity. Then, a temperature experiment is performed to obtain the output value of HGMA. The output values of HGMA are analyzed and optimized by using the algorithms proposed in this paper. The processing results show that the RBF NN + GA + KF method compensated by the temperature drift model achieves the best denoing consequent. The processing results show that the temperature drift of the HGMA is effectively compensated. The final results show that acceleration random walking improved from 17130 g/h/Hz0.5 to 765.3 g/h/Hz0.5, and bias stability improved from 4720 g/h to 57.27 g/h, respectively. The results show that after using the RBF NN + GA + KF method, combined with the temperature drift model, the temperature drift trend and noise characteristics of HGMA are well optimized.

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“…e self-excitation vibration exists in the natural and engineering eld, which requires no external force or external action to change the structural parameters of the system but relies on the interaction of various components within the system to maintain the steady-state periodic motion [1][2][3][4][5][6][7][8]. Some self-excited oscillations are very complicated.…”

Section: Introductionmentioning

confidence: 99%

Numerical Vibration Displacement Solutions of Fractional Drawing Self‐Excited Vibration Model Based on Fractional Legendre Functions

et al. 2019

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In practice, due to the fact that the phenomenon of drawing self-excited vibration can be deemed as one of the hunting phenomena of the mechanical system, this study focuses on investigating the drawing self-excited vibration process through proposing the fractional differential equation model of hunting phenomenon of the mechanical system. The fractional Legendre functions together with their fractional differential operational matrices are used to numerically solve the model. In this way, the numerical solutions of vibration displacement of the model are obtained. At the end, the proposed model and algorithm are proved to be effective via analyzing the numerical results and phase position.

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High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders

Cited by 69 publications

References 29 publications

A Temperature Error Parallel Processing Model for MEMS Gyroscope based on a Novel Fusion Algorithm

A Temperature Error Parallel Processing Model for MEMS Gyroscope based on a Novel Fusion Algorithm

Temperature Drift Compensation for High-G MEMS Accelerometer Based on RBF NN Improved Method

Numerical Vibration Displacement Solutions of Fractional Drawing Self‐Excited Vibration Model Based on Fractional Legendre Functions

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