公开(公告)号：US11754400B2

公开(公告)日：2023-09-12

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

CPC classification number: 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：US11293759B2

公开(公告)日：2022-04-05

申请号：US16980860

申请日：2019-03-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan Chen ,  Ping Yang ,  Junwei Wang ,  Lin Fang

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

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：US11912433B2

公开(公告)日：2024-02-27

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

CPC classification number: B64D45/00 ,  G01C21/16 ,  B64D2045/0085

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：US11927446B2

公开(公告)日：2024-03-12

申请号：US17040543

申请日：2019-03-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan Chen ,  Junwei Wang ,  Ping Yang ,  Lin Fang

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

CPC classification number: G01C21/165 ,  B63B79/10 ,  B63G8/001 ,  G01C21/20 ,  G01S19/49 ,  B63B2213/00 ,  B63G2008/004

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 H∞ Kalman filter algorithm based on an adaptive multiple fading factor is established to ensure robustness and adaptability of navigation and positioning of a glider.