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个人信息Personal Information
研究员 博士生导师
招生学科专业：
仪器科学与技术 -- 【招收硕士研究生】 -- 自动化学院
控制科学与工程 -- 【招收博士、硕士研究生】 -- 自动化学院
电子信息 -- 【招收博士、硕士研究生】 -- 自动化学院
主要任职：南航和美国南加州大学国际联合卓越研究中心主任，全国惯性技术与产品标准化工作组委员，中国电子学会科技咨询委员会委员，中国惯性技术学会惯性系统与测量专业委员会委员，中国宇航学会空间遥感专业委员会委员，《兵工学报》和《中国空间科学技术》编委
其他任职：Aerospace Science and Technology最佳审稿人贡献奖、航空学报优秀审稿专家
性别：男
毕业院校：南京航空航天大学
学历：南京航空航天大学
学位：工学博士学位
所在单位：自动化学院
办公地点：自动化学院1号楼5楼
联系方式：025-84892304-510
电子邮箱：
An Improved Method of SINS/CNS Integrated Navigation Algorithm Based on Dual Quaternions with Gyro Error Corrected Online
点击次数：
所属单位：自动化学院
发表刊物：2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)
关键字：SINS/CNS Gyro drift Dual quaternion Observability analysis
摘要：In consideration of the high dimension problem in the existing SINS/CNS integrated navigation system based on dual quaternions, the observable degree analysis method of system states based on singular value decomposition is introduced. According to the analysis result, the state components with good observability are estimated and the bad ones are removed, thus the computation time of Kalman filter is significantly decreased and the real-time performance of SINS/CNS is improved. To ensure that inertial navigation can also maintain high accuracy over a period of time when celestial auxiliary information is lost, an improved method of SINS/CNS integrated navigation algorithm based on dual quaternions with gyro error corrected online is proposed. The Kalman filter estimates constant gyro drift with the aid of celestial information and utilizes the calibration value to compensate gyro output online. The simulation results demonstrate that the proposed method can realize the effective estimation of constant gyro drift. In addition, the accuracy of inertial navigation is improved effectively.
ISSN号：1948-9439
是否译文：否
发表时间：2017-01-01
合写作者：闵艳玲,邢丽,刘建业,殷德全
通讯作者：熊智