Systems Engineering and Electronics ›› 2024, Vol. 46 ›› Issue (12): 4183-4191.doi: 10.12305/j.issn.1001-506X.2024.12.27
• Guidance, Navigation and Control • Previous Articles
Navigation method using angle/velocity measurement based on GPR-UKF
Shoujian ZHANG1,2, Mingzhen GUI1,2,*
- 1. School of Automation, Central South University, Changsha 410083, China
2. Key Laboratory of Smart Earth, Beijing 100029, China
-
Received:2024-01-30Online:2024-11-25Published:2024-12-30 -
Contact:Mingzhen GUI
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Cite this article
Shoujian ZHANG, Mingzhen GUI. Navigation method using angle/velocity measurement based on GPR-UKF[J]. Systems Engineering and Electronics, 2024, 46(12): 4183-4191.
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Fig.1
Starlight angle pitch measurement"
Fig.1
Fig.2
Doppler velocity measurement"
Fig.2
Fig.3
Flowchart of detection and modification for outlier"
Fig.3
Fig.4
Comprehensive outliers (including single outliers and continuous outliers)"
Fig.4
Fig.5
Result of traditional navigation (without outliers)"
Fig.5
Fig.6
Results of traditional navigation (with single and continuous outliers)"
Fig.6
Fig.7
Navigation result of traditional outlier processing methods"
Fig.7
Fig.8
Navigation result of GPR-UKF outlier processing"
Fig.8
Table 1
Comparison of navigation errors of various methods"
| 不同方法 | 导航位置误差均值/km | 导航最大位置误差/km | 导航速度误差均值/(m/s) | 导航最大速度误差/(m/s) |
| 不含野值 | 5.304 0 | 19.187 0 | 1.857 9 | 8.660 0 |
| 含野值不处理 | 362.000 0 | 1 580.200 0 | 63.706 0 | 718.336 6 |
| 传统野值处理 | 146.040 0 | 947.060 0 | 3.849 7 | 17.815 7 |
| GPR野值处理 | 5.807 8 | 19.344 0 | 1.858 1 | 8.660 0 |
Table 1
Fig.9
Navigation result with initial training sample points of 200"
Fig.9
Fig.10
Navigation result with initial training sample points of 300"
Fig.10
Fig.11
Navigation result with initial training sample points of 400"
Fig.11
Table 2
Comparison of navigation errors with different initial training sample volumes"
| 初始训练样本点数 | 导航位置误差均值/km | 导航最大位置误差/km | 导航速度误差均值/(m/s) | 导航最大速度误差/(m/s) |
| 200 | 11.834 | 75.436 | 1.933 | 8.660 |
| 300 | 11.123 | 30.121 | 1.861 | 8.660 |
| 400 | 6.610 | 19.188 | 1.858 | 8.660 |
Table 2
Fig.12
Navigation result with dynamic training samples of 200"
Fig.12
Fig.13
Navigation result with dynamic training samples of 300"
Fig.13
Fig.14
Navigation result with dynamic training samples of 400"
Fig.14
Table 3
Comparison of navigation errors with different dynamic training sample volumes"
| 动态训练样本点数 | 导航位置误差均值/km | 导航最大位置误差/km | 导航速度误差均值/(m/s) | 导航最大速度误差/(m/s) |
| 200 | 5.648 4 | 19.188 | 1.858 1 | 8.660 0 |
| 300 | 6.953 2 | 19.235 | 1.858 5 | 8.660 0 |
| 400 | 7.100 0 | 19.469 | 1.858 5 | 8.660 0 |
Table 3
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