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1.发明授权公开(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
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.
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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
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.
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公开(公告)号：US10890667B2
公开(公告)日：2021-01-12
申请号：US16094474
申请日：2017-04-13
Applicant: SOUTHEAST UNIVERSITY
Inventor： Xiyuan Chen , Bingbo Cui , Wei Wang , Zhengyang Zhao , Lin Fang
Abstract: The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S1, constructing a high-dimensional GNSS/INS deep coupling filter model; S2, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S3, performing CKF filtering by using novel cubature point update rules. The present invention is suitable for high-dimensional GNSS/INS deep coupling filtering with high precision and high stability.
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4.发明授权公开(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
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.
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