公开(公告)号：US20220326016A1

公开(公告)日：2022-10-13

申请号：US17843451

申请日：2022-06-17

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Bo Xu ,  Yu Guo ,  Lei Wu ,  Junmiao Hu ,  Chong Chen ,  Lianzhao Wang ,  Shengxin Li ,  Xiaoyu Wang ,  Zhaoyang Wang

IPC: G01C21/16

Abstract: The disclosure belongs to the technical field of integrated navigation under non-ideal conditions, and in particular relates to a robust filtering method for integrated navigation based on a statistical similarity measure (SSM). In view of the situation that there are normal beam measurement information of the DVL and beam measurement information with a large error simultaneously in a SINS/DVL tightly integrated system, and aiming at the problem that the existing robust filters of an integrated navigation system process the measurement information in a rough manner and are likely to lead to loss of normal measurement information, the disclosure proposes a novel robust filtering method based on decomposition of multi-dimensional measurement equations and the SSM. The disclosure introduces the SSM theory while decomposing the multi-dimensional measurement equations of the SINS/DVL tightly integrated navigation system, and assists the measurement noise variance of each beam to complete respective adaptive update in case of a large measurement error, finally ensuring independence of processing of the measurement information of each beam. The disclosure can be used in the field of integrated navigation of underwater vehicles under non-ideal conditions.

公开(公告)号：US20220326019A1

公开(公告)日：2022-10-13

申请号：US17846128

申请日：2022-06-22

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Tingxiao Wei ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Qianqian Gao ,  Xiaofeng Wei ,  Shuaiyang Li

IPC: G01C21/20 ,  G01C21/16

Abstract: The disclosure discloses a strapdown inertial navigation heave measurement method using multiple low-pass filter units, including: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a semi-fixed coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a double-filter unit and one integral link to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a triple-filter unit and two integral links to obtain an accurate heave displacement. The method avoids the problem of phase lead caused by traditional addition of high-pass filters, and can provide a reference for ship swaying reduction operations, ship carrier lifts, ship-borne weapon launch and heave compensation of various offshore platforms.

公开(公告)号：US12061087B2

公开(公告)日：2024-08-13

申请号：US17846128

申请日：2022-06-22

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Tingxiao Wei ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Qianqian Gao ,  Xiaofeng Wei ,  Shuaiyang Li

IPC: G01C21/20 ,  G01C21/16

CPC classification number: G01C21/203 ,  G01C21/16

Abstract: A strapdown inertial navigation heave measurement method using multiple low-pass filter units includes: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a reference coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a first filter unit and integration to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a second filter unit and integration to obtain an accurate heave displacement.

公开(公告)号：US20220326017A1

公开(公告)日：2022-10-13

申请号：US17844224

申请日：2022-06-20

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Shuaiyang Li ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Xinle Zang ,  Tingxiao Wei ,  Jiancheng Wang ,  Yifan Zhou

IPC: G01C21/16 ,  G01C21/18

Abstract: Disclosed is a self-adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, a horizontal attitude angle is taken as a state variable, an angular velocity increment Δωb for compensating a random constant zero offset is taken as a control input of a system equation, and a specific force fb for compensating the random constant zero offset is taken as a measurement quantity. Meanwhile, judgment conditions for a maneuvering state of a carrier are improved, and maneuvering information of the carrier is judged by comprehensively utilizing acceleration information and angular velocity information output by a micro electro mechanical system inertial measurement unit (MEMS-IMU), whereby a measurement noise matrix of a filter can be automatically adjusted, thereby effectively reducing the influence of carrier maneuvering on the calculation of a horizontal attitude. The method has no special requirement on the maneuvering state of the carrier, and can ensure that the system has high attitude measurement precision in different motion states without an external information assistance.

公开(公告)号：US12104908B2

公开(公告)日：2024-10-01

申请号：US17843451

申请日：2022-06-17

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Bo Xu ,  Yu Guo ,  Lei Wu ,  Junmiao Hu ,  Chong Chen ,  Lianzhao Wang ,  Shengxin Li ,  Xiaoyu Wang ,  Zhaoyang Wang

IPC: G01C21/16

CPC classification number: G01C21/1652

Abstract: The disclosure belongs to the technical field of integrated navigation under non-ideal conditions, and in particular relates to a robust filtering method for integrated navigation based on a statistical similarity measure (SSM). In view of the situation that there are normal beam measurement information of the DVL and beam measurement information with a large error simultaneously in a SINS/DVL tightly integrated system, and aiming at the problem that the existing robust filters of an integrated navigation system process the measurement information in a rough manner and are likely to lead to loss of normal measurement information, the disclosure proposes a novel robust filtering method based on decomposition of multi-dimensional measurement equations and the SSM. The disclosure introduces the SSM theory while decomposing the multi-dimensional measurement equations of the SINS/DVL tightly integrated navigation system, and assists the measurement noise variance of each beam to complete respective adaptive update in case of a large measurement error, finally ensuring independence of processing of the measurement information of each beam. The disclosure can be used in the field of integrated navigation of underwater vehicles under non-ideal conditions.

公开(公告)号：US20210080287A1

公开(公告)日：2021-03-18

申请号：US16922241

申请日：2020-07-07

Applicant: Harbin Engineering University

Inventor： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC: G01C25/00 ,  G01C21/16

Abstract: The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.

公开(公告)号：US12061086B2

公开(公告)日：2024-08-13

申请号：US17844224

申请日：2022-06-20

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Shuaiyang Li ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Xinle Zang ,  Tingxiao Wei ,  Jiancheng Wang ,  Yifan Zhou

IPC: G01C21/16 ,  G01C21/18

CPC classification number: G01C21/188 ,  G01C21/18

Abstract: Disclosed is a self-adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, a horizontal attitude angle is taken as a state variable, an angular velocity increment Δωb for compensating a random constant zero offset is taken as a control input of a system equation, and a specific force fb for compensating the random constant zero offset is taken as a measurement quantity. Meanwhile, judgment conditions for a maneuvering state of a carrier are improved, and maneuvering information of the carrier is judged by comprehensively utilizing acceleration information and angular velocity information output by a micro electro mechanical system inertial measurement unit (MEMS-IMU), whereby a measurement noise matrix of a filter can be automatically adjusted, thereby effectively reducing the influence of carrier maneuvering on the calculation of a horizontal attitude. The method has no special requirement on the maneuvering state of the carrier, and can ensure that the system has high attitude measurement precision in different motion states without an external information assistance.

公开(公告)号：US11313698B2

公开(公告)日：2022-04-26

申请号：US16922241

申请日：2020-07-07

Applicant: Harbin Engineering University

Inventor： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC: G01C25/00 ,  G01C21/16

Abstract: The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.