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IEEE International Conference on Nano/micro Engineered and Molecular Systems

作者： Yang, Bo Wang, Shourong Li, Hongsheng Huang, Libin Li, Kunyu Yin, Yong School of Instrument Science and Engineering Institute Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Nanjing China

ISBN: (纸本)9781424465439

This paper deal with a new symmetrical and Decoupled Silicon micro-Gyroscope (DSMG). By the simplified motion model of the DSMG, the mechanical coupling error from the width errors of suspension beams is analyzed and deduced. The simulation shows that the simulated results of mechanical coupling error basically equal to the calculation results. The characterization test results of the DSMG show that the equivalent input rate of mechanical coupling error is 31°/s, 13.9 times smaller than that of the part-decoupled SMG developed by our research group in an earlier stage. The experiment results show that the zero bias temperature coefficient of the DSMG is 57.68deg/h/°C, 9.42 times smaller than the part-decoupled SMG. The decoupled structure reduces mechanical coupling error between the drive-mode and sense-mode of DSMG, which decrease the zero-rate output drift. ©2010 IEEE.

关键词： Silicon

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Implementation of adaptive Ethernet for embedded integrated navigation system

Implementation of adaptive Ethernet for embedded integrated ...

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2012 International Conference on Modelling, Identification and Control, ICMIC 2012

作者： Yan, Jie Xu, Xiaosu Key Laboratory of Micro Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University China

ISBN: (纸本)9780956715715

Integrated navigation is the focus research in the navigation field. With the rapid development of electronic technology, the embedded technology is widely application in the integrated navigation system. The system is demand real-time, so that the high quality and rapid communication between the system and the peripheral devices is necessary. In the integrated navigation system, DSP is used to process the navigation information, and FPGA is used to control the peripheral devices. This paper adopts the w5300 as the adaptive Ethernet chip which bottom driver is used TI C6000 DSP operates and used FPGA control the reset signal. Practice proves that this design is effective and reliable meet the real time constraint and meet the embedded integrated navigation system small volume and low power dissipation demand. © 2012 Huazhong Univ of Sci & Tec.

关键词： Field programmable gate arrays (FPGA)

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Research of Improved Multi Fading Strong Tracking UKF for Fast In-motion Initial Alignment 2022

Research of Improved Multi Fading Strong Tracking UKF for Fa...

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2nd International Conference on Robotics and Control Engineering, RobCE 2022

作者： Liu, Jianguo Chen, Xiyuan Wang, Junwei Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University China

ISBN: (纸本)9781450395854

A novel strong tracking unscented Kalman filter (NSTUKF) is proposed in this study for fast initial alignment of the single-axis rotation inertial navigation system (SRINS) in dynamic conditions. To begin, the NSTUKF model is created, the UKF is utilized to achieve fast alignment under large misalignment angles, and strong tracking is employed to increase the robustness of the UKF against dynamic model errors. Second, the optimal fading factors of all channels are calculated using a heuristic technique based on the gravitational search algorithm (GSA) to improve the performance of strong tracking. Finally, the turntable experiment is implemented, and the results reveal that the NSTUKF outperforms existing approaches in terms of convergence and accuracy. © 2022 ACM.

关键词： Kalman filters

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micrograting Displacement Sensor with Integrated Electrostatic Actuation

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Chinese Physics Letters 2014年第7期31卷 214-217页

作者：姚保寅冯丽爽王潇刘惟芳刘美华 Key Laboratory of Micro-nano Measurement-Manipulation and Physics (Ministry of Education) Beihang University Beijing 100191 Fundamental of Science on Novel Inertial Instrument & Navigation System Technology Laboratory Beihang University Beijing 100191

A high-resolution micro-grating displacement sensor with diffraction-based and integrated electrostatic actuation is proposed and experimentally demonstrated. The Ai reflecting membrane is fabricated at the bottom of a silicon moving part and the Au micro-gratings are patterned on a transparent substrate. This structure forms a phase sensitive diffraction grating, providing the displacement sensitivity of the micro-grating interferometer. It shows sensitivity adjustment and self-calibration capabilities with electrostatic actuation. Additional system components include a coherent light source, photodiodes, and required electronics. Experimental results show that the displacement sensor has a sensitivity of about 1.8 m V /nm and a resolution of less than 1 nm in the linear region. This displacement sensor is very promising in the fields requiring high sensitivity, broad dynamic range, and immunity to electromagnetic interference.

关键词： ELECTROSTATIC actuators DISPLACEMENT (Mechanics) DIFFRACTION gratings SENSITIVITY analysis SILICON

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Resilient tightly coupled INS/UWB integration method for indoor UAV navigation under challenging scenarios

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Defence technology（防务技术） 2023年第4期22卷 185-196页

作者： Qian Meng Yang Song Sheng-ying Li Yuan Zhuang Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Southeast UniversityNanjing210096China Department of Mechanical Engineering Hong Kong Polytechnic UniversityHong KongChina State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhanChina

Based on the high positioning accuracy,low cost and low-power consumption,the ultra-wide-band(UWB)is an ideal solution for indoor unmanned aerial vehicle(UAV)localization and ***,the UWB signals are easy to be blocked or reflected by obstacles such as walls and furniture.A resilient tightly-coupled inertial navigation system(INS)/UWB integration is proposed and implemented for indoor UAV navigation in this paper.A factor graph optimization(FGO)method enhanced by resilient stochastic model is established to cope with the indoor challenging *** deal with the impact of UWB non-line-of-sight(NLOS)signals and noise uncertainty,the conventional neural net-works(CNNs)are introduced into the stochastic modelling to improve the resilience and reliability of the *** on the status that the UWB features are limited,a‘two-phase'CNNs structure was designed and implemented:one for signal classification and the other one for measurement noise *** proposed resilient FGO method is tested on flighting UAV platform under actual indoor challenging *** to classical FGO method,the overall positioning errors can be decreased from about 0.60 m to centimeter-level under signal block and reflection *** superiority of resilient FGO which effectively verified in constrained environment is pretty important for positioning accuracy and integrity for indoor navigation task.

关键词： Unmanned aerial vehicle(UAV) Resilient navigation Indoor positioning Factor graph optimization Ultra-wide band(UWB)

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Study on the design and algorithm of INS/MCP/DR integrated navigation method for underwater glider

Study on the design and algorithm of INS/MCP/DR integrated n...

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2012 3rd International Conference on Digital Manufacturing and Automation, ICDMA 2012

作者： Huang, Haoqian Chen, Xiyuan Liu, Hu Zhou, Zhikai Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology School of Instrument Science and Engineering Southeast University Nanjing Jiangsu 210096 China

ISBN: (纸本)9780769547725

A novel navigation system with low power, simple design, high precision navigation applied to the glider to run longer time underwater was proposed. For improving the long-term navigation and positioning precision, an integrated method including a dead reckoning(DR) model, a magnetic compass pilot(MCP) and an inertial navigation system(INS) was developed. In addition, a novel adaptive algorithm of unscented Kalman filter(UKF) fusing the fuzzy logic controller was proposed to improve navigation precision, the convergence speed of filter and the robustness of the integrated system. Simulation results showed that this integrated method can restrain the fast growth of INS errors and improve the location accuracy in long-term underwater navigation, and this algorithm has the obvious advantage in enhancing the robustness of the integrated system over popular UKF method. © 2012 IEEE.

关键词： inertial navigation systems

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Geomagnetic Matching navigation for Aircraft Based on Improved Iterative Closest Contour Point Algorithm 1

Geomagnetic Matching Navigation for Aircraft Based on Improv...

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1st International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2020

作者： Xu, Ninghui Wang, Lihui Southeast University Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Nanjing China

ISBN: (纸本)9781728192772

Focusing on the problem of accumulated INS error of high-speed aircraft at high-altitude with unavailable satellite navigation, an improved iterative closest contour point (ICCP) algorithm is proposed for geomagnetic matching navigation helping eliminate INS errors. Aiming at local optimal problem of traditional ICCP with large initial positioning error, proposed algorithm improves its decision indicator based on multi-attribute decision-making. Matching effect is evaluated comprehensively by algorithm convergence degree indicator together with introduced trajectory correlation indicator. After judging the convergence degree of matching trajectory, its correlation with real trajectory is depicted by their geomagnetic intensity and linear correlation. Then, the fusion of two indicators based on entropy weight method is adopted as comprehensive decision indicator. Improved ICCP is compared with particle swarm optimization algorithm (PSO) to verify its matching effect in conditions of different map resolution and geomagnetic measurement noise. Experiment results indicate that improved algorithm's performance is significantly better than PSO and traditional ICCP with higher matching accuracy and better stability, helping optimize and decrease matching error of ICCP from thousands of meters to 100 meters. © 2020 IEEE.

关键词： Errors

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Visual inertial Calibration of Mobile Robotic System Based on Reinforcement Learning 1

Visual Inertial Calibration of Mobile Robotic System Based o...

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1st International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2020

作者： Zhu, Wenxing Wang, Lihui Southeast University School of Instrument Science and Engineering Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing China

ISBN: (纸本)9781728192772

Visual inertial calibration is an important part of Visual-inertial System (VINS), and inaccurate visual inertia parameters will lead to unreliable navigation attitude estimation. Aiming at the problems of the complicated offline calibration process and the large amount of online self-calibration calculation, a novel visual inertial self-calibration method based on reinforcement learning (RL-VIC) is proposed to provide high precision calibration parameters for the lifetime autonomous operation. Firstly, the nonlinear observable analysis of the visual inertial system is carried out. The rank decomposition of the Fisher Information Matrix (FIM) is adopted to determine the observable parameter space. Then, reinforcement learning methods are used to determine unobservable discrete motion sequences, give different reward feedback to motion sequences with different parameters and different observability, and learning the best calibrated motion sequences. Finally, experiments demonstrate that the visual inertial calibration based on reinforcement learning method has a translation error of 0.0349m and a rotation error of 0.399°.Compared with the traditional offline calibration method Kalibr and the online automatic self-calibration method VINS-Mono, which uses a complete motion sequence for calibration, it greatly saves the calculation cost and obtains the calibration parameters with the same accuracy. © 2020 IEEE.

关键词： Reinforcement learning

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Performance and Analysis for the Carrier Loop Based on Maximum Likelihood in High Dynamic Scenarios 8

Performance and Analysis for the Carrier Loop Based on Maxim...

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8th International Conference on Control, Mechatronics and Automation, ICCMA 2020

作者： Yan, Zhe Chen, Xiyuan Tang, Xinhua Zhu, Xuefen Ministry of Education School of Instrument Science and Engineering Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Nanjing China

ISBN: (纸本)9781728192109

The design of carrier tracking loops in a global navigation satellite receiver is a tricky problem for reliable positioning and navigation especially in a high-dynamic scenario. To lock the received satellite signal and estimate the Doppler frequency precisely, maximum-likelihood estimation is widely used nowadays. In conventional iterative solving methods for MLE, the Hessian matrix is extremely complex and requires a large computation volume. Aiming at this problem, three approaches based on Gauss-Newton frame, including damping method, trust-region method and Quasi-Newton method is proposed. Furthermore, closed carrier loops are implemented by using the three methods respectively. At last, the performance of the carrier loops is tested using high-dynamic aircraft data, and the result indicates that the trust-region method can keep a balance between precise measurement and real-time processing. The improvements of trust-region method on precision are 76.57% and 73.99% respectively compared with conventional scalar and vector carrier loops. © 2020 IEEE.

关键词： Maximum likelihood estimation

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The Implementation and Comparison between Kalman Filter-based and Vector Tracking Loops 1

The Implementation and Comparison between Kalman Filter-base...

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1st International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2020

ISBN: (纸本)9781728192772

A well-designed tracking loop is the core of a Global navigation Satellite System (GNSS) receiver and plays a decisive role in estimating parameters and positioning. To solve the problem that classical scalar tracking may fail to track the received signal frequently in high-dynamic and weak signal environments, novel tracking loops based on optimal estimation are proposed by many researchers. Among them, Kalman-based and vector tracking are expected to have a better performance in improving the precision of measurements and positions. Considering their superiority and promising applications in deeply coupled GNSS/inertial navigation system, the theoretical analysis and practical implementation are worthy of being further explored. In this paper, an EKF-based tracking loop which uses the outputs of coherent channels directly is proposed. And then, the implementation of a vector tracking frequency-locked and delay-locked loop is further proposed in detail. At last, the performance and superiority of the two methods are tested where a software-defined receiver is constructed and the aircraft data from a GNSS constellation simulator is used. Compared with scalar tracking, a significant improvement on positioning and measuring parameters is achieved by the two methods. And the vector tracking indicates a 42.9% and a increase on the precision of positioning and pseudo-range measuring respectively. © 2020 IEEE.

关键词： Kalman filters

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