A Method of Deflection of the Vertical Measurement Based on Attitude Difference Compensation

Wen, An; Xu, Jiangning; He, Hongyang; Jiang, Pengfei

doi:10.1109/jsen.2021.3069083

Cited by 8 publications

(6 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Selecting the east-north-up geographic coordinate frame as the navigation coordinate frame (i.e. nframe), the normal gravity g 0 can be expressed as [5][6][7]…”

Section: Causes Of Gravity Disturbancementioning

confidence: 99%

“…The normal gravity derived from the model follows the normal direction of reference ellipsoid, and the magnitude of normal gravity can be solved analytically according to latitude and altitude [5,6]. However, in fact, due to the irregular topography and uneven mass distribution of the earth, there is inevitably a difference, also known as gravity disturbance, between the actual gravity and the normal gravity at any position [6][7][8]. Consequently, the gravity disturbance directly causes errors in the kinematic acceleration calculated by INS at each epoch and further generates cumulative navigation parameter errors such as the velocity, position and attitude.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Yang,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

With the increasing demands for long-endurance and high-accuracy inertial navigation system (INS), gravity disturbance has been identified as one of the major error sources with decisive effects on the performance of INS. To address the problem, this paper proposes an autonomous and high-accuracy gravity disturbance compensation scheme for rotary INS (RINS). The high-accuracy velocity measured by the laser Doppler velocimeter is fused with the angular velocity measured by the gyroscope to obtain navigation parameters, such as velocity, position and attitude, that are not affected by gravity disturbance. The navigation parameters independent of gravity disturbance are matched with the gravity disturbance-related navigation parameters output by RINS, and a measurement model containing gravity disturbance information is obtained. Besides, the intrinsic coupling relationship between gravity disturbance, gravity disturbance rate and gravity disturbance gradient is revealed, and a state-space model is established to accurately reflect the time-varying characteristics of gravity disturbance. Furthermore, the gravity disturbance is estimated and compensated in real-time through the optimal estimation algorithm. The results of vehicle experiments indicate that the gravity disturbance estimation precision of the proposed scheme is better than 2.15 mGal (1σ), and its horizontal position accuracy is better than 50 m at a driving distance of 80 km.

show abstract

“…Selecting the east-north-up geographic coordinate frame as the navigation coordinate frame (i.e. nframe), the normal gravity g 0 can be expressed as [5][6][7]…”

Section: Causes Of Gravity Disturbancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Yang,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…Due to the irregular shape of the earth and its unequal mass * Author to whom any correspondence should be addressed. distribution, there is a numerical value difference called gravity anomaly between the normal gravity fitted by the mathematical model and the earth's actual gravity [3,4]. Dynamic gravity measurements provide a superior option for enriching the earth's gravity field information with high efficiency, high precision and fine detail [5].…”

Section: Introductionmentioning

confidence: 99%

Autonomous ground vehicle gravity anomaly measurement and dynamic error compensation

Li,

Zhou,

Zhang

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

To address the issue that dynamic gravity anomaly measurement is overly dependent on GNSS and can’t be measured autonomously at this stage, this paper proposes an autonomous ground vehicle dynamic gravity anomaly measurement method based on a strapdown inertial navigation system (SINS), odometer (OD), barometer and platform gravimeter. The SINS/OD /barometer integrated navigation solution delivers high-precision navigation parameters, completes the calculation of correction terms, and performs the autonomous dynamic gravity anomaly measurement combined with the primary measurement results of the platform gravimeter. Numerical calculations provide the requirements for the application of the proposed method, and the cut-off frequency for extracting gravity anomalies is 0.02 Hz, as determined by power spectral density analysis. In order to further improve the measurement accuracy and account for dynamic errors caused by vehicle maneuvering, a long-short-term memory (LSTM) model of recurrent neural network (RNN) is introduced. A series of experiments under multiple circumstances with repeated lines were conducted in Tianjin, China, and the static measurements along the line were taken using CG-5 to provide true values of gravity anomalies. The results demonstrate that the autonomous measurement scheme can achieve accuracy comparable to GNSS-assisted, and that dynamic error compensation algorithm based on LSTM improves the dynamic gravity measurements accuracy significantly without sacrificing the spatial resolution of gravity anomalies.

show abstract

“…Before such combat units are put into use, these devices need to undergo initial alignment [1]. Methods of initial alignment for part of the inertial reference devices under the conditions of sea movement masterly include Inertia/Satellite Navigation Self-aligned Approach [2], Transfer Alignment Method [3], and Camera Measurement Method [4]. Through the camera and collaboration target, the Camera Measurement Method connects the object to be measured and the measuring reference, and after that, the three-dimensional attitude, position, etc.…”

Section: Introductionmentioning

confidence: 99%

Attitude reference transfer method for moving-base based on correlated frames

Nong¹,

Wu²,

Wang³

2023

International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2022)

View full text Add to dashboard Cite

When the monocular visual measurement method is adopted, the initial alignment precision of the moving base tends to be easily interrupted by the surrounding environment. In order to solve this problem, in this study, the authors suggest an initial attitude reference transfer method for moving base based on correlated frames of images. This method utilizes the advantage of inertial reference, namely, high precision of relative attitude measurement within a short time period, transforms the multi-frame sequence images of the planar target to the coordinate system of the initial moment, and averagely reduces noise interruption through more than one image, so that the attitude-calculating precision could be promoted. Simulation research shows that: The attitude reference method based on correlated frames, which is put forward in this study, could effectively reduce random noise interruptions. Within the rotation scope of -1° to 1°, the precision of attitude alignment angles in three directions is better than that of 45''.

show abstract

A Method of Deflection of the Vertical Measurement Based on Attitude Difference Compensation

Cited by 8 publications

References 22 publications

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Autonomous ground vehicle gravity anomaly measurement and dynamic error compensation

Attitude reference transfer method for moving-base based on correlated frames

Contact Info

Product

Resources

About