公开(公告)号：US20220404152A1

公开(公告)日：2022-12-22

申请号：US17779167

申请日：2021-07-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan CHEN ,  Siyi ZHANG ,  Xiaotian ZHANG ,  Junwei WANG

IPC: G01C21/20 ,  G01C21/16

Abstract: A motion constraint-aided underwater integrated navigation method employing improved Sage-Husa adaptive filtering includes establishing a Doppler log error model; constructing a state equation for an underwater integrated navigation system employing Kalman filtering; according to a relationship between a centripetal acceleration and a forward velocity of an underwater vehicle, establishing a constraint condition, and constructing a complete motion constraint model; establishing two measurement equations; and establishing a filter equation, conducting calculation by using a standard Kalman filtering algorithm when an underwater glider normally runs, and conducting time updating, measurement updating and filtering updating by using an improved Sage-Husa adaptive filtering algorithm when a measurement noise varies. The motion constraint-aided underwater integrated navigation method improves a filtering accuracy of the underwater integrated navigation system, restrains a filter divergence and has robustness and reliability.

公开(公告)号：US20220033100A1

公开(公告)日：2022-02-03

申请号：US17275506

申请日：2020-04-15

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan CHEN ,  Ping YANG ,  Lin FANG ,  Junwei WANG

IPC: B64D45/00 ,  G01C21/16

Abstract: A dual-filter-based transfer alignment method under dynamic deformation. A dynamic deformation angle generated under dynamic deformation and a coupling angle between dynamic deformation and body motion will reduce the accuracy of transfer alignment; and a transfer alignment filter is divided into two parts, the first part estimates a bending deformation angle and the coupling angle, and uses an attitude matching method, and the second part estimates a dynamic lever arm, and uses a “speed plus angular speed” matching method.

公开(公告)号：US20210010812A1

公开(公告)日：2021-01-14

申请号：US16980860

申请日：2019-03-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan CHEN ,  Ping YANG ,  Junwei WANG ,  Lin FANG

IPC: G01C21/16 ,  G01C21/18 ,  G01C25/00

Abstract: A method for decoupling an angular velocity in a transfer alignment process under a dynamic deformation includes: (1) generating, by a trajectory generator, information about an attitude, a velocity, and a position of a main inertial navigation system and an output of an inertial device, and simulating a bending deformation angle {right arrow over (θ)} between the main inertial navigation system and a slave inertial navigation system and a bending deformation angular velocity {right arrow over (ω)}θ by using second-order Markov; (2) decomposing the dynamic deformation into a vibration deformation and a bending deformation, and establishing an angular velocity model under the dynamic deformation of a wing; (3) deducing an error angle Δ{right arrow over (ϕ)} between the main inertial navigation system and the slave inertial navigation system; and (4) deducing an expression Δ{right arrow over (ω)} of a coupling error angular velocity, and applying that to an angular velocity matching process of transfer alignment to improve the precision of the transfer alignment.

公开(公告)号：US20210041240A1

公开(公告)日：2021-02-11

申请号：US17040543

申请日：2019-03-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan CHEN ,  Junwei WANG ,  Ping YANG ,  Lin FANG

IPC: G01C21/16 ,  G01S19/49 ,  G01C21/20 ,  B63G8/00 ,  B63B79/10

Abstract: A navigation and positioning system for an underwater glider includes a micro-electro-mechanical system inertial measurement unit, a global positioning system receiving module, a triaxial magnetometer, a Doppler velocimeter, and an integrated navigation hardware processing system. If a navigation and positioning error is too large, the underwater glider stops working in real time and switches from the underwater working state to the up floating error correction state; and when velocity and location errors of a GPS/INS integrated navigation system are smaller than specified thresholds, the underwater glider switches from the up floating error correction state to the underwater working state and continues to work. An Hoc Kalman filter algorithm based on an adaptive multiple fading factor is established to ensure robustness and adaptability of navigation and positioning of a glider.