INS/CNS/GNSS integrated navigation technology

목차 (Table of Contents)

• CONTENTS
• 1 Introduction = 1
• 1.1 The History of INS／CNS／GNSS Navigation = 2
• 1.2 The Current Status of INS／CNS／GNSS Navigation Development = 4
• 1.2.1 INS／GNSS Navigation = 4
• 1.2.2 INS／CNS Navigation = 5
• 1.2.3 INS／CNS／GNSS Navigation = 6
• References = 8
• 2 Principle of INS／CNS／GNSS Navigation System = 9
• 2.1 Introduction = 9
• 2.2 Coordinate Frames and Earth Reference Model Commonly Used in Navigation = 9
• 2.2.1 The Coordinate Frames Used in Navigation = 9
• 2.2.2 The Conversion of Coordinate Systems = 13
• 2.2.3 Earth Reference Model = 15
• 2.3 Inertial Navigation System = 21
• 2.3.1 Work Principle of Inertial Navigation System = 21
• 2.3.2 SINS System Error Equation and Error Propagation Characteristics = 23
• 2.4 Satellite Navigation System = 30
• 2.4.1 Operating Principle of Satellite Navigation System = 30
• 2.4.2 Analysis of Error Characteristics for Satellite Navigation System = 32
• 2.5 Celestial Navigation System = 34
• 2.5.1 Autonomous Celestial Positioning Principle = 36
• 2.5.2 Celestial Attitude Determination Principle = 44
• 2.5.3 Star Sensor in CNS and Analysis of Its Error Characteristics = 46
• 2.6 Chapter Conclusion = 51
• References = 51
• 3 Filters in Navigation System = 53
• 3.1 Introduction = 53
• 3.2 Kalman Filter = 54
• 3.3 Extended Kalman Filter = 56
• 3.3.1 Mathematical Description of Stochastic Nonlinear System = 56
• 3.3.2 Discrete Extended Kalman Filter = 57
• 3.4 Unscented Kalman Filter = 59
• 3.5 Particle Filter = 61
• 3.6 Unscented Particle Filter(UPF) = 64
• 3.7 Predictive Filtering = 65
• 3.8 Federated Filter = 68
• 3.8.1 Structure of Federated Filter = 68
• 3.8.2 Fusion Algorithm = 69
• 3.9 Chapter Conclusion = 70
• References = 71
• 4 Error Modeling, Calibration, and Compensation of Inertial Measurement Unit(IMU) = 75
• 4.1 Introduction = 75
• 4.2 Error Modeling and Compensation of Inertial Sensors = 76
• 4.2.1 Error Model of Gyroscopes = 76
• 4.2.2 Scale Factor Error Modeling of Gyroscope = 78
• 4.2.3 Temperature Error Modeling of Gyroscope = 85
• 4.3 Design, Error Calibration, and Compensation of Inertial Measurement Units = 90
• 4.3.1 Design of Inertial Measurement Units = 90
• 4.3.2 The Optimization Six-Position Hybrid Calibration for SINS = 104
• 4.3.3 Integrated Calibration Method for RLG IMU Using a Hybrid Analytic／Kalman Filter Approach = 108
• 4.3.4 Temperature Error Modeling of IMU Based on Neural Network = 117
• 4.4 High Dynamic Strapdown Inertial Algorithm = 123
• 4.4.1 Error Analysis and Gyro Biases Calibration of Analytic Coarse Alignment for Airborne POS = 124
• 4.4.2 Conical Motion Analysis and Evaluation Criteria for Conical Error Compensation Algorithm = 131
• 4.4.3 An Improved Single-Subsample Rotating Vector Attitude Algorithm = 132
• 4.5 Chapter Conclusion = 141
• References = 142
• 5 Star Map Processing Algorithm of Star Sensor and Autonomous Celestial Navigation = 145
• 5.1 Introduction = 145
• 5.2 Star Map Preprocessing Method for Star Sensors = 145
• 5.2.1 Problem Statements = 146
• 5.2.2 Blurred Star Image De-noising = 148
• 5.2.3 Blurred Star Image Restoration = 150
• 5.2.4 Results and Analysis = 152
• 5.2.5 Conclusions = 158
• 5.3 Star Map Identification Method of Star Sensor = 159
• 5.3.1 Introduction = 160
• 5.3.2 Star Recognition Method Based on AAC Algorithm = 161
• 5.3.3 Hybrid Simulation Result and Analysis = 167
• 5.3.4 Conclusions = 169
• 5.4 Celestial Navigation Method Based on Star Sensor and Semi-physical Simulation Verification = 170
• 5.4.1 Introduction = 171
• 5.4.2 Celestial Navigation Measurements and Orbit Dynamic Model = 172
• 5.4.3 UKF Information Fusion Algorithm = 176
• 5.4.4 Simulation Results = 178
• 5.4.5 Conclusions = 181
• 5.5 Chapter Conclusion = 181
• References = 181
• 6 INS／GNSS Integrated Navigation Method = 185
• 6.1 Introduction = 185
• 6.2 Principle of Inertial／Satellite Integrated Navigation = 186
• 6.2.1 Combination Mode of Inertial／Satellite Integrated Navigation = 186
• 6.2.2 Basic Principle for InertiaUSatellite Integrated Navigation = 187
• 6.3 Modeling Method of Inertial／Satellite Integrated Navigation System = 189
• 6.3.1 Linear Modeling Method of Inertial／Satellite Integrated Navigation System Based on the Φ Angle = 190
• 6.3.2 Nonlinear Modeling Method of the Inertial／Satellite Integrated Navigation System Based on Quaternion Error = 193
• 6.4 High-Precision Inertial／Satellite Integrated Navigation Method = 199
• 6.4.1 Inertial／Satellite Integrated Navigation Method Based on Mixed Correction = 200
• 6.4.2 Self-Adaptive Feedback Correction Filter Method Based on Observability Normalization Processing Method = 203
• 6.4.3 Inertial／Satellite Outlier-Resistant Integrated Navigation Method Based on Kalman Filtering Innovation Orthogonality = 209
• 6.4.4 An Air Maneuvering Alignment Method Based on Observability Analysis and Lever Arm Error Compensation = 214
• 6.4.5 SINS／GPS Integrated Estimation Method Based on Unscented R-T-S Smoothing = 217
• 6.5 Chapter Conclusion = 231
• References = 233
• 7 INS／CNS Integrated Navigation Method = 237
• 7.1 Introduction = 237
• 7.2 Basic Principle of Inertial／Celestial Integrated Navigation = 238
• 7.2.1 Operating Mode of the Inertial／Celestial Integrated Navigation System = 238
• 7.2.2 Combination Mode of Inertial／Celestial Integrated Navigation System = 240
• 7.2.3 Principle of Inertial Component Error Correction Based on Celestial Measurement Information = 241
• 7.3 Modeling Method of Inertial／Celestial Integrated Navigation System = 242
• 7.3.1 State Equation of Inertial／Celestial Integrated Navigation System = 243
• 7.3.2 Measurement Equation of Inertial／Celestial Integrated Navigation System = 245
• 7.4 New Inertial／Celestial Integrated Navigation Method of Ballistic Missile = 245
• 7.4.1 Principle for Initial Position Error Correction of Missile Launching Point Based on Celestial Measurement Information = 246
• 7.4.2 Inertial／Celestial Integrated Navigation Method of Ballistic Missile Based on UKF = 246
• 7.5 Inertial／Celestial Integrated Navigation Method of Lunar Vehicle = 250
• 7.5.1 Strapdown Inertial Navigation Method of Lunar Vehicle = 251
• 7.5.2 A Lunar Inertial／Celestial Integrated Navigation Method Based on UPF = 252
• 7.6 Inertial／Celestial Integrated Attitude Determination Method of Satellite = 257
• 7.6.1 Satellite Attitude Determination System Equation = 257
• 7.6.2 An Inertia／Celestial Integrated Attitude Determination Method of Piecewise Information Fusion Based on EKF = 259
• 7.6.3 Method of Minimum Parameter Attitude Matrix Estimation of Satellite Based on UKF = 263
• 7.6.4 Interlaced Optimal-REQUEST and Unscented Kalman Filtering for Attitude Determination = 269
• 7.7 Chapter Conclusion = 275
• References = 276
• 8 INS／CNS／GNSS Integrated Navigation Method = 279
• 8.1 Introduction = 279
• 8.2 Principle of INS／CNS／GNSS Integrated Navigation = 280
• 8.2.1 Basic Principle of INS／CNS／GNSS Integrated Navigation = 280
• 8.2.2 Combination Mode of INS／CNS／GNSS Integrated Navigation = 280
• 8.2.3 Modeling of INS／CNS／GNSS Integrated Navigation System = 285
• 8.3 INS／CNS／GNSS Integrated Navigation Method Based on Federated UKF = 287
• 8.4 Federated Filtering INS／CNS／GNSS Integrated Navigation Method Based on the Optimized Information Distribution Factor = 291
• 8.4.1 Federated Filtering Equation and Information Distribution Process = 291
• 8.4.2 Federated Filtering INS／CNS／GNSS Integrated Navigation Method Based On Information Distribution Factor Optimization = 293
• 8.4.3 Research on FKF Method Based on an Improved Genetic Algorithm for INS／CNS／GNSS Integrated Navigation System = 294
• 8.5 Chapter Conclusion = 304
• References = 304
• 9 Study for Real-Time Ability of INS／CNS／GNSS Integrated Navigation Method = 307
• 9.1 Introduction = 307
• 9.2 Piecewise Constant System(PWCS) Observability Analysis Theory and Method = 308
• 9.2.1 Observability Analysis Theory of the PWCS = 308
• 9.2.2 An Improved System State Degree of Observability Analysis Method Based on Singular Value Decomposition = 313
• 9.3 Dimensionality Reduction Filter Design of INS／CNS Integrated Navigation System Based on the Improved Degree of Observability Analysis = 315
• 9.4 Dimensionality Reduction Filter Design of INS／GNSS Integrated Navigation System Based on the Improved Degree of Observability Analysis = 318
• 9.5 Federated Filter Design of the INS／CNS／GNSS Integrated Navigation System Based on Dimensionality Reduction Filtering = 322
• 9.6 Chapter Conclusion = 326
• References = 328
• 10 Semi-physical Simulation Technology of INS／CNS／GNSS Integrated Navigation = 331
• 10.1 Introduction = 331
• 10.2 Principle and Composition of Semi-Physical Simulation System of INS／CNS／GNSS Integrated Navigation = 332
• 10.2.1 Principle of Semi-Physical Simulation System of INS／CNS／GNSS Integrated Navigation = 332
• 10.2.2 Composition of Semi-Physical Simulation System of INS／CNS／GNSS Integrated Navigation = 334
• 10.3 Realization and Test of Semi-Physical Simulation System of INS／CNS／GNSS Integrated Navigation = 347
• 10.3.1 Realization of Semi-physical Simulation System of SINS／CNS／GNSS Integrated Navigation = 350
• 10.3.2 Experiments of Semi-physical Simulation System of INS／CNS／GNSS Integrated Navigation = 359
• 10.4 Chapter Conclusion = 361
• References = 361
• 11 Prospects of INS／CNS／GNSS Integrated Navigation Technology = 363
• 11.1 Introduction = 363
• 11.2 Development and Prospect of Integrated Navigation Technology = 363
• 11.2.1 Accurate Modeling Techniques of the INS／CNS／GNSS Navigation System = 363
• 11.2.2 Information Fusion of the INS／CNS／GNSS Navigation System and the Advanced Filtering Method = 364
• 11.2.3 INS／CNS／GNSS Navigation Method Based on Advanced Control Theory = 365
• 11.2.4 Integrated Inertial／Celestial／Satellite Navigation System Technology Based on Integration = 368
• 11.2.5 Applications of the Inertial／Celestial／Satellite Navigation Technology = 369
• 11.3 Chapter Conclusion = 370
• References = 370