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E-book: INS/CNS/GNSS Integrated Navigation Technology

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  • Pub. Date: 22-Jan-2015
  • Publisher: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • Language: eng
  • ISBN-13: 9783662451595
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INS/CNS/GNSS Integrated Navigation TechnologyLarger Image
  • Format: PDF+DRM
  • Pub. Date: 22-Jan-2015
  • Publisher: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • Language: eng
  • ISBN-13: 9783662451595
Other books in subject:

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This book not only introduces the principles of INS, CNS and GNSS, the related filters and semi-physical simulation, but also systematically discusses the key technologies needed for integrated navigations of INS/GNSS, INS/CNS, and INS/CNS/GNSS, respectively. INS/CNS/GNSS integrated navigation technology has established itself as an effective tool for precise positioning navigation, which can make full use of the complementary characteristics of different navigation sub-systems and greatly improve the accuracy and reliability of the integrated navigation system. The book offers a valuable reference guide for graduate students, engineers and researchers in the fields of navigation and its control.Dr. Wei Quan , Dr. Jianli Li , Dr. Xiaolin Gong and Dr. Jiancheng Fang are all researchers at the Beijing University of Aeronautics and Astronautics.

Introduction.- Principle of INS/CNS/GNSS Navigation System.- Filters in Navigation System.- Error Modeling, Calibration and Compensation of Inertial Measurement Unit (IMU).- Star Map Processing Algorithm of Star Sensor and Autonomous Celestial Navigation.- INS/GNSS Integrated Navigation Method.- INS/CNS INTEGRATED NAVIGATION METHOD.- INS/CNS/GNSS Integrated Navigation Method.- Study for Real-time Ability of INS/CNS/GNSS Integrated Navigation Method.- Semi-physical Simulation Technology of INS/CNS/GNSS Integrated Navigation.- Prospect of INS/CNS/GNSS Integrated navigation technology.
1 Introduction 1(8)
1.1 The History of INS/CNS/GNSS Navigation
2(2)
1.2 The Current Status of INS/CNS/GNSS Navigation Development
4(4)
1.2.1 INS/GNSS Navigation
4(1)
1.2.2 INS/CNS Navigation
5(1)
1.2.3 INS/CNS/GNSS Navigation
6(2)
References
8(1)
2 Principle of INS/CNS/GNSS Navigation System 9(44)
2.1 Introduction
9(1)
2.2 Coordinate Frames and Earth Reference Model Commonly Used in Navigation
9(12)
2.2.1 The Coordinate Frames Used in Navigation
9(4)
2.2.2 The Conversion of Coordinate Systems
13(2)
2.2.3 Earth Reference Model
15(6)
2.3 Inertial Navigation System
21(9)
2.3.1 Work Principle of Inertial Navigation System
21(2)
2.3.2 SINS System Error Equation and Error Propagation Characteristics
23(7)
2.4 Satellite Navigation System
30(4)
2.4.1 Operating Principle of Satellite Navigation System
30(2)
2.4.2 Analysis of Error Characteristics for Satellite Navigation System
32(2)
2.5 Celestial Navigation System
34(17)
2.5.1 Autonomous Celestial Positioning Principle
36(8)
2.5.2 Celestial Attitude Determination Principle
44(2)
2.5.3 Star Sensor in CNS and Analysis of Its Error Characteristics
46(5)
2.6
Chapter Conclusion
51(1)
References
51(2)
3 Filters in Navigation System 53(22)
3.1 Introduction
53(1)
3.2 Kalman Filter
54(2)
3.3 Extended Kalman Filter
56(3)
3.3.1 Mathematical Description of Stochastic Nonlinear System
56(1)
3.3.2 Discrete Extended Kalman Filter
57(2)
3.4 Unscented Kalman Filter
59(2)
3.5 Particle Filter
61(3)
3.6 Unscented Particle Filter (UPF)
64(1)
3.7 Predictive Filtering
65(3)
3.8 Federated Filter
68(2)
3.8.1 Structure of Federated Filter
68(1)
3.8.2 Fusion Algorithm
69(1)
3.9
Chapter Conclusion
70(1)
References
71(4)
4 Error Modeling, Calibration, and Compensation of Inertial Measurement Unit (IMU) 75(70)
4.1 Introduction
75(1)
4.2 Error Modeling and Compensation of Inertial Sensors
76(14)
4.2.1 Error Model of Gyroscopes
76(2)
4.2.2 Scale Factor Error Modeling of Gyroscope
78(7)
4.2.3 Temperature Error Modeling of Gyroscope
85(5)
4.3 Design, Error Calibration, and Compensation of Inertial Measurement Units
90(33)
4.3.1 Design of Inertial Measurement Units
90(14)
4.3.2 The Optimization Six-Position Hybrid Calibration for SINS
104(4)
4.3.3 Integrated Calibration Method for RLG IMU Using a Hybrid Analytic/Kalman Filter Approach
108(9)
4.3.4 Temperature Error Modeling of IMU Based on Neural Network
117(6)
4.4 High Dynamic Strapdown Inertial Algorithm
123(18)
4.4.1 Error Analysis and Gyro Biases Calibration of Analytic Coarse Alignment for Airborne POS
124(7)
4.4.2 Conical Motion Analysis and Evaluation Criteria for Conical Error Compensation Algorithm
131(1)
4.4.3 An Improved Single-Subsample Rotating Vector Attitude Algorithm
132(9)
4.5
Chapter Conclusion
141(1)
References
142(3)
5 Star Map Processing Algorithm of Star Sensor and Autonomous Celestial Navigation 145(40)
5.1 Introduction
145(1)
5.2 Star Map Preprocessing Method for Star Sensors
145(14)
5.2.1 Problem Statements
146(2)
5.2.2 Blurred Star Image De-noising
148(2)
5.2.3 Blurred Star Image Restoration
150(2)
5.2.4 Results and Analysis
152(6)
5.2.5 Conclusions
158(1)
5.3 Star Map Identification Method of Star Sensor
159(11)
5.3.1 Introduction
160(1)
5.3.2 Star Recognition Method Based on AAC Algorithm
161(6)
5.3.3 Hybrid Simulation Result and Analysis
167(2)
5.3.4 Conclusions
169(1)
5.4 Celestial Navigation Method Based on Star Sensor and Semi-physical Simulation Verification
170(11)
5.4.1 Introduction
171(1)
5.4.2 Celestial Navigation Measurements and Orbit Dynamic Model
172(4)
5.4.3 UKF Information Fusion Algorithm
176(2)
5.4.4 Simulation Results
178(3)
5.4.5 Conclusions
181(1)
5.5
Chapter Conclusion
181(1)
References
181(4)
6 INS/GNSS Integrated Navigation Method 185(52)
6.1 Introduction
185(1)
6.2 Principle of Inertial/Satellite Integrated Navigation
186(3)
6.2.1 Combination Mode of Inertial/Satellite Integrated Navigation
186(1)
6.2.2 Basic Principle for InertiaUSatellite Integrated Navigation
187(2)
6.3 Modeling Method of Inertial/Satellite Integrated Navigation System
189(10)
6.3.1 Linear Modeling Method of Inertial/Satellite Integrated Navigation System Based on the Φ Angle
190(3)
6.3.2 Nonlinear Modeling Method of the Inertial/Satellite Integrated Navigation System Based on Quaternion Error
193(6)
6.4 High-Precision InertiaUSatellite Integrated Navigation Method
199(32)
6.4.1 Inertial/Satellite Integrated Navigation Method Based on Mixed Correction
200(3)
6.4.2 Self-Adaptive Feedback Correction Filter Method Based on Observability Normalization Processing Method
203(6)
6.4.3 Inertial/Satellite Outlier-Resistant Integrated Navigation Method Based on Kalman Filtering Innovation Orthogonality
209(5)
6.4.4 An Air Maneuvering Alignment Method Based on Observability Analysis and Lever Arm Error Compensation
214(3)
6.4.5 SINS/GPS Integrated Estimation Method Based on Unscented R-T-S Smoothing
217(14)
6.5
Chapter Conclusion
231(2)
References
233(4)
7 INS/CNS Integrated Navigation Method 237(42)
7.1 Introduction
237(1)
7.2 Basic Principle of Inertial/Celestial Integrated Navigation
238(4)
7.2.1 Operating Mode of the Inertial/Celestial Integrated Navigation System
238(2)
7.2.2 Combination Mode of Inertial/Celestial Integrated Navigation System
240(1)
7.2.3 Principle of Inertial Component Error Correction Based on Celestial Measurement Information
241(1)
7.3 Modeling Method of Inertial/Celestial Integrated Navigation System
242(3)
7.3.1 State Equation of Inertial/Celestial Integrated Navigation System
243(2)
7.3.2 Measurement Equation of Inertial/Celestial Integrated Navigation System
245(1)
7.4 New Inertial/Celestial Integrated Navigation Method of Ballistic Missile
245(5)
7.4.1 Principle for Initial Position Error Correction of Missile Launching Point Based on Celestial Measurement Information
246(1)
7.4.2 Inertial/Celestial Integrated Navigation Method of Ballistic Missile Based on UKF
246(4)
7.5 Inertial/Celestial Integrated Navigation Method of Lunar Vehicle
250(7)
7.5.1 Strapdown Inertial Navigation Method of Lunar Vehicle
251(1)
7.5.2 A Lunar Inertial/Celestial Integrated Navigation Method Based on UPF
252(5)
7.6 Inertial/Celestial Integrated Attitude Determination Method of Satellite
257(18)
7.6.1 Satellite Attitude Determination System Equation
257(2)
7.6.2 An Inertia/Celestial Integrated Attitude Determination Method of Piecewise Information Fusion Based on EICF
259(4)
7.6.3 Method of Minimum Parameter Attitude Matrix Estimation of Satellite Based on UKF
263(6)
7.6.4 Interlaced Optimal-REQUEST and Unscented Kalman Filtering for Attitude Determination
269(6)
7.7
Chapter Conclusion
275(1)
References
276(3)
8 INS/CNS/GNSS Integrated Navigation Method 279(28)
8.1 Introduction
279(1)
8.2 Principle of INS/CNS/GNSS Integrated Navigation
280(7)
8.2.1 Basic Principle of INS/CNS/GNSS Integrated Navigation
280(1)
8.2.2 Combination Mode of INS/CNS/GNSS Integrated Navigation
280(5)
8.2.3 Modeling of INS/CNS/GNSS Integrated Navigation System
285(2)
8.3 INS/CNS/GNSS Integrated Navigation Method Based on Federated UKF
287(4)
8.4 Federated Filtering INS/CNS/GNSS Integrated Navigation Method Based on the Optimized Information Distribution Factor
291(13)
8.4.1 Federated Filtering Equation and Information Distribution Process
291(2)
8.4.2 Federated Filtering INS/CNS/GNSS Integrated Navigation Method Based On Information Distribution Factor Optimization
293(1)
8.4.3 Research on FKF Method Based on an Improved Genetic Algorithm for INS/CNS/GNSS Integrated Navigation System
294(10)
8.5
Chapter Conclusion
304(1)
References
304(3)
9 Study for Real-Time Ability of INS/CNS/GNSS Integrated Navigation Method 307(24)
9.1 Introduction
307(1)
9.2 Piecewise Constant System (PWCS) Observability Analysis Theory and Method
308(10)
9.2.1 Observability Analysis Theory of the PWCS
308(5)
9.2.2 An Improved System State Degree of Observability Analysis Method Based on Singular Value Decomposition
313(2)
9.3 Dimensionality Reduction Filter Design of INS/CNS Integrated Navigation System Based on the Improved Degree of Observability Analysis
315(3)
9.4 Dimensionality Reduction Filter Design of INS/GNSS Integrated Navigation System Based on the Improved Degree of Observability Analysis
318(4)
9.5 Federated Filter Design of the INS/CNS/GNSS Integrated Navigation System Based on Dimensionality Reduction Filtering
322(4)
9.6
Chapter Conclusion
326(2)
References
328(3)
10 Semi-physical Simulation Technology of INS/CNS/GNSS Integrated Navigation 331(32)
10.1 Introduction
331(1)
10.2 Principle and Composition of Semi-Physical Simulation System of INS/CNS/GNSS Integrated Navigation
332(15)
10.2.1 Principle of Semi-Physical Simulation System of INS/CNS/GNSS Integrated Navigation
332(2)
10.2.2 Composition of Semi-Physical Simulation System of INS/CNS/GNSS Integrated Navigation
334(13)
10.3 Realization and Test of Semi-Physical Simulation System of INS/CNS/GNSS Integrated Navigation
347(14)
10.3.1 Realization of Semi-physical Simulation System of SINS/CNS/GNSS Integrated Navigation
350(9)
10.3.2 Experiments of Semi-physical Simulation System of INS/CNS/GNSS Integrated Navigation
359(2)
10.4
Chapter Conclusion
361(1)
References
361(2)
11 Prospects of INS/CNS/GNSS Integrated Navigation Technology 363
11.1 Introduction
363(1)
11.2 Development and Prospect of Integrated Navigation Technology
363(7)
11.2.1 Accurate Modeling Techniques of the INS/CNS/GNSS Navigation System
363(1)
11.2.2 Information Fusion of the INS/CNS/GNSS Navigation System and the Advanced Filtering Method
364(1)
11.2.3 INS/CNS/GNSS Navigation Method Based on Advanced Control Theory
365(3)
11.2.4 Integrated Inertial/Celestial/Satellite Navigation System Technology Based on Integration
368(1)
11.2.5 Applications of the Inertial/Celestial/Satellite Navigation Technology
369(1)
11.3
Chapter Conclusion
370(1)
References
370
QUAN Wei: H-index 7

Main publications list: 1. Quan Wei, Fang Jiancheng etc. Hybrid simulation system study of SINS/CNS integrated navigation, IEEE A&E Systems Magazine, 2008, 23(2):17~24. 2. Quan Wei, Fang Jiancheng. A star recognition method based on the adaptive ant colony algorithm for star sensors, Sensors, 2010, 10(3):1955~1966. 3. Quan Wei, Fang Jiancheng, Zhang Weina. A method of optimization for the distorted model of star map based on improved genetic algorithm, Aerospace Science and Technology, 2011, 15(2):103~107. 4. Quan Wei, Xu Liang, Fang Jiancheng. A New Star Pattern Recognition Algorithm based on Improved Hausdorff Distance, IEEE Transactions on AES, In press. 5. Zhang Weina, Quan Wei, Guo Lei. Blurred Star Image Processing for Star Sensor in Dynamic Condition, Sensors, In press. 6. Wang Ziliang, Quan Wei. An All-sky autonomous star map identification algorithm, IEEE A&E Systems Magazine, 2004, 19:10~14. 7. Quan Wei, Zhang Weina. Restoration of motion-blurred star image based on wiener filter, 2011 International Conference on Intelligent Computation Technology and Automation, 2011,3 Vol.II, 691-694 8. Quan Wei, Fang Jiancheng, Guo Lei. An adaptive segmented information fusion method for the attitude determination of nano-spacecrafts, Proceedings of SPIE Seventh International Symposium on Instrumentation and Control Technology, 2008, 7129:2G 9. Quan Wei, Fang Jiancheng. An adaptive federated filter algorithm based on improved GA and its application, Proceedings of SPIE - Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence, 2006, 6357:5C 10. Quan Wei, Fang Jiancheng. Hardware in-the-loop simulation of celestial navigation system, Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2005, 426-429

Research Interest: 1.INS/CNS, INS/CNS/GNSS integrated navigation system technologyfor airplane or missile. 2.Gyro/Star sensor, Gyro/Celestial sensor/Magnetometer multi-sensors integrated attitude determination system technology. 3.Star sensor system technology based on CMOS APS. 4.Star map processing technology including denoising, distort correcting, centroiding, recognizing, etc. 5.Advanced filtering method based on intelligent algorithm. 6.Deep space exploration payload technology. 7.Atom magnetometer and atom spin gyro technology.
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