A Frequency-Domain INS/GPS Dynamic Response Method for Bridging GPS Outages
A Frequency-Domain INS/GPS Dynamic Response Method for Bridging GPS Outages
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DOI：
10.1017/s0373463310000226
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发表时间：
2010-10-01
影响因子：
2.4
通讯作者：
Pagiatakis, Spiros
中科院分区：
文献类型：
--
作者：
El-Diasty, Mohammed;Pagiatakis, Spiros
我们开发了一种新的频域动态响应方法来模拟集成惯性导航系统（INS）和全球定位系统（GPS）架构，并提供了一个精确的脉冲响应为基础的INS-只有导航解决方案时，GPS信号被拒绝（GPS中断）。这样一个动态系统的输入是INS唯一的解决方案和输出是INS/GPS集成解决方案;两者都被用来推导动态系统的传递函数，使用最小二乘频率变换（LSFT）。采用离散的最小二乘频率逆变换（ILSFT）的传递函数的时域估计的INS/GPS系统的脉冲响应。结果表明，DQI-100 IMU/特林布尔BD 950组合系统的长期运动动力学的恢复72%，42%，75%，40%，分别为北和东的速度，和北和投位置时，相比，只有INS的解决方案（预测模式的INS/GPS滤波器）。我们的脉冲响应模型和当前最先进的时域前馈神经网络之间的比较表明，建议的频率相关的INS/GPS响应模型上级神经网络模型约26%的二维速度和位置在GPS中断。
We develop a new frequency-domain dynamic response method to model integrated Inertial Navigation System (INS) and Global Positioning System (GPS) architectures and provide an accurate impulse-response-based INS-only navigation solution when GPS signals are denied (GPS outages). The input to such a dynamic system is the INS-only solution and the output is the INS/GPS integration solution; both are used to derive the transfer function of the dynamic system using Least Squares Frequency Transform (LSFT). The discrete Inverse Least Squares Frequency Transform (I LSFT) of the transfer function is applied to estimate the impulse response of the INS/GPS system in the time domain. It is shown that the long-term motion dynamics of a DQI-100 IMU/Trimble BD950 integrated system are recovered by 72%, 42%, 75%, and 40% for north and east velocities, and north and cast positions respectively, when compared with the INS-only solution (prediction mode of the INS/GPS filter). A comparison between our impulse response model and the current state-of-the-art time-domain feed-forward neural network shows that the proposed frequency-dependent INS/GPS response model is superior to the neural network model by about 26% for 2D velocities and positions during GPS outages.