A5004636957- Inertial Sensor and Navigation
- Underwater Vehicles and Communication Systems
- Target Tracking and Data Fusion in Sensor Networks
- Geophysics and Sensor Technology
- Indoor and Outdoor Localization Technologies
- Advanced Fiber Optic Sensors
- Oceanographic and Atmospheric Processes
- Meteorological Phenomena and Simulations
- GNSS positioning and interference
- Structural Health Monitoring Techniques
- Climate variability and models
- Robotics and Sensor-Based Localization
Harbin Engineering University
2017-2024
Massachusetts Institute of Technology
2003
The strapdown inertial navigation system that uses the aiding velocities from a relative log is usually affected by ocean current. Therefore, dual-state filter algorithm to alleviate effect unknown current proposed in this article. Generally speaking, ocean-current velocity relatively stable, other words, two adjacent samples over short period can be considered unchanged. Consequently, our chooses difference between sample points as external measurement information of integrated system,...
Abstract. The goal of this study is to compare the performances ensemble Kalman filter and a reduced-rank extended when applied different dynamic regimes. Data assimilation experiments are performed using an eddy-resolving quasi-geostrophic model wind-driven ocean circulation. By changing eddy viscosity, exhibits two qualitatively distinct behaviors: strongly chaotic for low viscosity case quasi-periodic high case. In algorithm, linearized with respect time-mean from long run without...
Fiber-optic gyro strapdown inertial navigation system is typically physically separated from the log giving an aiding velocity. This results in a velocity difference under angular motions, otherwise known as outer lever arm effect. The mathematical relationship between and derived, effect of on compensation harmful acceleration analyzed using structure in-motion gyrocompass alignment. Based this analysis, method for correction given to counteract performance Simulation trial tests are then...
For underwater vehicles, the measurement accuracy of Doppler velocity log (DVL) working in water-track (WT) mode is affected by ocean current, thereby affecting performance inertial navigation system (INS)/WT-DVL integrated system. As for uncertainty ocean-current model, we propose a novel algorithm based on an improved expected-mode augmentation (IEMA) algorithm, which used to mitigate effects complicated currents. First, set up basic fixed model set. Then, use strategy generate expected...
The performance of a strapdown inertial navigation system aided by relative speed log is usually affected ocean current. To tackle this problem, Multiple Model Adaptive Estimation algorithm to estimate the current velocity proposed in paper. Owing uncertainty velocity, single model fails representation its so we proposes for estimating where multiple Kalman filters run parallel, and state estimation from each filter combined computing weight factors summed with weighted outputs. By way can...
The effect of gyro constant drift and initial azimuth error on the convergence time compass is analyzed in this article. Using our designed alignment system, we obtain responses frequency domain. corresponding response function domain derived using inverse Laplace transform, its then analyzed. analysis results demonstrate that related to second-order damping oscillation period, drift, error. In study, band set 0.01° determine convergence. When less than 0.05°/h, can converge within 0.9...