Abstract
Due to the disturbance of wind field, it is difficult to achieve precise airship positioning and navigation in the stratosphere. This paper presents a new constrained unscented particle filter (UPF) for SINS/GNSS/ADS (inertial navigation system/global navigation satellite system/atmosphere data system) integrated airship navigation. This approach constructs a wind speed model to describe the relationship between airship velocity and wind speed using the information output from ADS, and further establishes a mathematical model for SINS/GNSS/ADS integrated navigation. Based on these models, it also develops a constrained UPF to obtain system state estimation for SINS/GNSS/ADS integration. The proposed constrained UPF uses the wind speed model to constrain the UPF filtering process to effectively resist the influence of wind field on the navigation solution. Simulations and comparison analysis demonstrate that the proposed approach can achieve optimal state estimation for SINS/GNSS/ADS integrated airship navigation in the presence of wind field disturbance.
Highlights
The stratosphere, which is located at the bottom of the near space with the altitude between10 km to 50 km, is a new region of human activities in space [1,2]
This paper presents a new constrained unscented particle filter (UPF) for SINS/GNSS/atmosphere data system (ADS) integration to improve performance of airship and UPF
Thisthepaper presents a newpositioning constrained for SINS/GNSS/ADS
Summary
The stratosphere, which is located at the bottom of the near space with the altitude between. UPF is incapable of handling the disturbance of wind field for INS/GNSS/ADS integrated airship navigation. The wind field in the stratosphere has a unique form of disturbance, which is completely different from kinematic model noise and observation noise, requiring a special way to handle It cannot guarantee the covariance matrices in the filtering process are positive-definite, leading to the stability issue. This paper presents a new constrained UPF for SINS/GNSS/ADS integrated airship navigation under the disturbance of wind field. A mathematical model is established for SINS/GNSS/ADS integrated airship navigation Based on these models, a constrained UPF is developed to fuse SINS and GNSS measurements to generate the optimal state estimation for SINS/GNSS/ADS integration. Simulations and comparison analysis have been conducted to comprehensively evaluate the performance of the proposed constrained UPF for SINS/GNSS/ADS integrated airship navigation in the presence of wind disturbance
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