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38th Chinese Control Conference (CCC)

作者： Zhao, Hui Su, Zhong Liu, Fuchao Li, Chao Li, Qing Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Beijing Informat Sci & Technol Univ Beijing Key Lab High Dynam Nav Technol Beijing 100192 Peoples R China

ISBN: (纸本)9789881563972

Due to the increasing accuracy of inertial devices and the high dynamics of carriers, higher accuracy requirements are presented for the attitude updating algorithm. Most of the existing attitude updating algorithms ignore the high order error term of the equivalent rotation vector. They only compensate for the coning error term in low dynamic environments. As a result, they will produce large attitude errors in high dynamic environments. To solve this problem, a novel high order uncompressed coning algorithm is derived. The simulations are carried out in the pure coning environment and the regular precession environment with different parameters. Compared with the existing attitude algorithms, the simulation results show that the new proposed high order uncompressed coning algorithm can further improve the accuracy of attitude updating. In particular, it can increase the accuracy of attitude updating algorithm by two orders of magnitude in high dynamic environments.

关键词： High Dynamic Attitude Updating High Order Equivalent Rotation Vector coning algorithm

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High Order Uncompressed coning algorithm in High Dynamic Environments

High Order Uncompressed Coning Algorithm in High Dynamic Env...

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第三十八届中国控制会议

作者： Hui Zhao Zhong Su Fuchao Liu Chao Li Qing Li School of Automation Beijing Institute of Technology Beijing Key Laboratory of High Dynamic Navigation Technology Beijing Information Science and Technology University

关键词： High Dynamic Attitude Updating High Order Equivalent Rotation Vector coning algorithm

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Research and perfection of strapdown coning algorithm

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ICIC Express Letters, Part B: Applications 2015年第5期6卷 1389-1395页

作者： Huang, Lei Liu, Jianye Zeng, Qinghua Chen, Weina Navigation Research Center Nanjing University of Aeronautics and Astronautics No. 29 Yudao Street Nanjing China Automation Department Nanjing Forestry University No. 159 Longpan Road Nanjing China

The aim of this study is to perfect the existing strapdown coning *** the derivation of the strapdown coning algorithms, for example Miller’s classical threesample coning algorithm, there is a validation missed. And the mathematical significance of the algorithm was not revealed clearly by the researchers to some extent. Based on the analysis of the flow of Miller’s algorithm, the mathematical significance of the threesample coning algorithm is re-explained. With the help of cubic-polynomial fitting, the derivation of the coning algorithm is perfected. The study is also helpful to improve other strapdown attitude algorithms based on rotation vector. © 2015.

关键词： coning algorithm Drift error Polynomial fitting Rotation vector Strapdown inertial navigation

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Study of the Attitude algorithm of MEMS IMU Based on Improved coning Compensation for High Speed Rotating rigid body 3

Study of the Attitude Algorithm of MEMS IMU Based on Improve...

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3rd International Conference on Unmanned Systems (ICUS)

作者： Guan, Xueyuan Liu, Ning Yin, Shang Bo, Zhenhua Ma, Xunqiong Liu, Yushun Nanjing Univ Sci & Technol Sch Natl Key Lab Transient Phys Nanjing Peoples R China Beijing Informat Sci & Technol Univ Beijing Key Lab High Dynam Nav Technol Beijing Peoples R China

ISBN: (纸本)9781728180250

The classical algorithms for strap down attitude are dependent upon the first-order rotation vector equation is difficult to fit the high dynamic environment, which is angular rate is higher than 60 rack. This paper presents the analysis result of the error composition of coning algorithm on the basis of the classical three sample coiling algorithm. This confirms the high impact of the truncation for the accuracy of attitude calculation in the high dynamic environment. It also indicates that the impact cannot be reduced by increasing samples in a single cycle. For the purpose of reducing the influence of truncation error on attitude calculation, it proposes an attitude algorithm based on an improved coning compensation structure. The proposed algorithm can effectively compensate the truncation error by error compensation model. Simulation based test results prove that the improved performance of new algorithm performance is obviously because of the classical three-sample coning algorithm. The proposed coning algorithm architecture can also be applied to a generalized coiling algorithm to arbitrary samples of the gyro.

关键词： Strapdown inertial navigation system Attitude calculation coning algorithm Truncation error

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Improvement to classical coning algorithms in maneuver performance based on a match correction structure

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2019年第7期233卷 2478-2488页

作者： Tang, Chuanye Chen, Long Chen, Jianfeng Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Jiangsu Peoples R China

An improved class of coning algorithms is presented to promote the maneuver performance of attitude updating of strapdown inertial navigation system. The improved coning algorithm is based on the match correction structure which can be designed through revising the previous half-compressed correction structure. The improved algorithm coefficient is designed from the existing compressed algorithm according to a given relationship. In order to analyze and evaluate algorithm performance under maneuver environments, two algorithm error models are defined. Compared with the classical compressed coning algorithm, the improved coning algorithm of the corresponding version has the same algorithm throughput and coning accuracy but has higher maneuver accuracy. Especially, the improved four-sample algorithm has about two times of maneuver accuracy compared with its classical compressed version.

关键词： coning algorithm match correction structure maneuver accuracy

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An approach to improving maneuver performance of coning algorithm

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Journal of Southeast University(English Edition) 2014年第4期30卷 439-444页

作者：汤传业陈熙源宋锐东南大学仪器科学与工程学院南京210096 东南大学微惯性仪表与先进导航技术教育部重点实验室南京210096

Aiming to improve the maneuver performance of the strapdown inertial navigation attitude coning algorithm a new coning correction structure is constructed by adding a sample to the traditional compressed coning correction structure. According to the given definition of classical coning motion the residual coning correction error based on the new coning correction structure is derived. On the basis of the new structure the frequency Taylor series method is used for designing a coning correction structure coefficient and then a new coning algorithm is *** types of error models are defined for the coning algorithm performance evaluation under coning environments and maneuver environments *** results indicate that the maneuver accuracy of the new 4-sample coning algorithm is almost double that of the traditional compressed 4-sample coning algorithm. The new coning algorithm has an improved maneuver performance while maintaining coning performance compared to the traditional compressed coning algorithm.

关键词： coning algorithm coning correction structure maneuver performance coning performance frequency Taylor series method coning algorithm coning correction structure maneuver performance coning performance frequency Taylor series method

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coning algorithm based on singular perturbation

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2013年第3期85卷 178-185页

作者： Fu, Li Wang, Lingling Hu, Jianghai Beihang Univ Automat Sci & Elect Engn Dept Beijing Peoples R China Purdue Univ Dept Elect & Comp Engn W Lafayette IN 47907 USA

Purpose - The aim of this paper is to propose a new coning correction algorithm, based on the singular perturbation technique, for the attitude update computation with non-ideal angular rate information. Design/methodology/approach - Unlike conventional coning correction algorithms, the new method uses angular rate two-time scale model to construct the coning correction term of attitude update. In order to achieve balanced real/pseudo coning correction performance, the selection guidelines of the new algorithm parameters are established. Findings - Performance of the new algorithm is evaluated by comparison with the conventional algorithm in no ideal sensors undergoing stochastic coning environments. The accuracy of attitude update can be improved effectively with reduced computational workload by using this new coning algorithm as compared with conventional ones. Practical implications - The proposed coning correction algorithm can be implemented with angular rate sensors in UAV (unmanned aerial vehicle) and other aircrafts attitude estimation for navigation and control applications. Originality/value - Singular perturbation is an effective method for structuring coning correction algorithm with filtered angular rate outputs in stochastic coning environments. The improved coning correction algorithm based on singular perturbations reduces the real and pseudo coning effects effectively as compared with conventional ones. It is proved to be valid for improvement of accuracy with reduced computations of the attitude update.

关键词： coning algorithm Singular perturbation Two-time scale model Attitude update Pseudo coning correction Aircraft Navigation

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coning algorithm Design by Batch-Processing

Coning Algorithm Design by Batch-Processing

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Chinese Automation Congress (CAC)

作者： Wang, Jiaze Huang, Xinsheng Fang, Qiang Zheng, Yongbin Bai, Shengjian Natl Univ Def Technol Coll Mechatron & Automat Changsha Hunan Peoples R China

ISBN: (纸本)9781479903337

coning algorithm is the kernel during attitude algorithm design in strapdown inertial navigation. A new approach is presented for strapdown coning algorithm design based on batch-processing. Unlike previous time or frequency Taylor series expansion techniques, the new method achieves the rotation vector through discrete Fourier transforms(DFT) and inverse Fourier transforms(IFT) of the inputs. This methodology allows the coning algorithm to be design in frequency, which might be a novel aspect to the coning algorithm. Performance of the new algorithm design technique is evaluated by comparison with previous time approaches, typically four-sample algorithm, in pure coning environments. Simulation results indicate that the new method reduces the coning error when the coning frequency is under 100Hz. The new method might be an alternate method during ship navigation where the coning frequency is not very high.

关键词： strapdown inertial naviation coning algorithm batch-processing discrete Fourier transform coning frequency

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OPTIMIZED STRAPDOWN coning CORRECTION algorithm

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Transactions of Nanjing University of Aeronautics and Astronautics 2013年第4期30卷 343-349页

作者：黄磊刘建业曾庆化 Navigation Research Center Nanjing University of Aeronautics and Astronautics Automation Department Nanjing Forestry University

Traditional coning algorithms are based on the first-order coning correction reference *** they reduce the algorithm error of coning axis(z)by increasing the sample numbers in one iteration *** the increase of sample numbers requires the faster output rates of ***,the algorithms are often limited in practical ***,the noncommutivity error of rotation usually exists on all three axes and the increase of sample numbers has little positive effect on reducing the algorithm errors of orthogonal axes(x,y).Considering the errors of orthogonal axes cannot be neglected in the high-precision applications,a coning algorithm with an additional second-order coning correction term is developed to further improve the performance of coning *** with the traditional algorithms,the new second-order coning algorithm can effectively reduce the algorithm error without increasing the sample *** analyses validate that in a coning environment with low frequency,the new algorithm has the better performance than the traditional time-series and frequency-series coning algorithms,while in a maneuver environment the new algorithm has the same order accuracy as the traditional time-series and frequency-series ***,the practical feasibility of the new coning algorithm is demonstrated by digital simulations and practical turntable tests.

关键词： SINS rotation vector coning algorithm coning correctness

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Optimal Sculling Velocity algorithms for the Gyros With Angular Rate Output

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IEEE ACCESS 2018年 6卷 66072-66081页

作者： Huang, Lei Xie, Fei Feng, Kai Nanjing Forestry Univ Sch Mech & Elect Engn Nanjing 210037 Jiangsu Peoples R China Southeast Univ Sch Instrument Sci & Engn Nanjing 210096 Jiangsu Peoples R China Nanjing Normal Univ Jiangsu Key Lab Printing Equipment & Mfg 3D Nanjing 210037 Jiangsu Peoples R China Nanjing Normal Univ Sch Elect & Automat Engn Nanjing 210042 Jiangsu Peoples R China

With the advance of gyro technology, modern gyros have two output types: angular rate or integrated angular rate. However, the conventional sculling velocity algorithms usually still adopt integrated angular rate/specific-force increments as algorithm inputs. So the engineer must convert the angular rate into integrated angular rate by digital integration to use them. This step will produce non-negligible computational error. To solve this issue, we proposed two types of novel optimal sculling algorithms using angular rate input. The advantage of the novel algorithms is that they can directly calculate out the carrier velocity without converting the angular rate of gyro output into integrated angular rate. Hence, they have a higher accuracy than the conventional sculling algorithms. The results of digital simulations also demonstrate this conclusion.

关键词： Strapdown inertial navigation algorithm velocity algorithm sculling algorithm coning algorithm specific-force transformation

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