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Gravity Disturbance Compensation for Inertial Navigation System
IEEE Transactions on Instrumentation and Measurement, 2019This paper investigates the gravity disturbance compensation for inertial navigation system based on high-resolution global gravity field models. The high-precision gravity is calculated using the European Improved Gravity model of the Earth by New techniques (EIGEN)-6C4, which is a representative of the high-resolution models.
Lubin Chang, Fangjun Qin, Meiping Wu
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Mechanism and Machine Theory, 2021
Abstract In this paper, a fast terminal sliding mode controller is designed for an active suspension gravity compensation system with unknown bounds of uncertainties and disturbances. A robust finite-time convergence estimator is used to estimate the velocity and the disturbances.
Meng Duan, Jiao Jia, Takao Ito
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Abstract In this paper, a fast terminal sliding mode controller is designed for an active suspension gravity compensation system with unknown bounds of uncertainties and disturbances. A robust finite-time convergence estimator is used to estimate the velocity and the disturbances.
Meng Duan, Jiao Jia, Takao Ito
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GPS Solutions, 2020
Zero velocity update technology (ZUPT) has frequently been used as a tool to reduce divergence when the inertial navigation system (INS) is working in pure inertial mode. In general, the normal gravity model is adopted to calculate the gravity vector, and the effect of gravity disturbance is neglected.
Jun Weng +3 more
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Zero velocity update technology (ZUPT) has frequently been used as a tool to reduce divergence when the inertial navigation system (INS) is working in pure inertial mode. In general, the normal gravity model is adopted to calculate the gravity vector, and the effect of gravity disturbance is neglected.
Jun Weng +3 more
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Acta Astronautica, 2012
Abstract The Inner Formation Flying System (IFFS) consisting of an outer satellite and an inner satellite which is a solid sphere proof mass freely flying in the shield cavity can construct a pure gravity orbit to precisely measure the earth gravity field. The gravitational attraction on the inner satellite due to the outer satellite is a significant
Zhenfeng Gu, Zhaokui Wang, Yulin Zhang
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Abstract The Inner Formation Flying System (IFFS) consisting of an outer satellite and an inner satellite which is a solid sphere proof mass freely flying in the shield cavity can construct a pure gravity orbit to precisely measure the earth gravity field. The gravitational attraction on the inner satellite due to the outer satellite is a significant
Zhenfeng Gu, Zhaokui Wang, Yulin Zhang
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A Novel Gravity Disturbance Compensation Inertial Navigation Method Based on Newtonian Mechanics
IEEE Transactions on Instrumentation and MeasurementKaixin Luo +4 more
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A Low-Order Gravity Disturbance Compensation Algorithm Based on Carrier Motion Constraints
IEEE Sensors JournalYu Wang +3 more
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On-line compensation of disturbing gravity for ballistic missiles in the launching area
2020 39th Chinese Control Conference (CCC), 2020With the improvement of hardware level of the inertial navigation system, the disturbing gravity of the earth gradually becomes one of the main factors affecting the accuracy of missiles. In this paper, the effect mechanism of the disturbing gravity as well as its error propagation mechanism along the trajectory are analyzed in the first place, and ...
Lei Wang +3 more
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Mechanical Stabilization in Robotic Bionic Eyes with Gravity and Disturbance Compensations
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019The vibration of the robot during the movement brings various irregular motion disturbances to the robot’s head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment.
Wei Cheng +3 more
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Bilateral Control Based on Disturbance Observer of Delta Robot with Gravity Compensation
Applied Mechanics and Materials, 2015Recently, delta robots is widely used in many industrial application because the structure of delta robot is close loop chain and have properties of high rigid body and fast movement. However, the moving part of delta robot is arranged in pattern that influenced by gravity and has an impact on control system.
Nakhon Niramitvasu, Chowarit Mitsantisuk
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An improved method for gravity disturbances compensation in INS/GPS integrated navigation
2014 12th International Conference on Signal Processing (ICSP), 2014Though the gravity-induced velocity and position errors can be easily dumped in GPS/INS integrated navigation, the attitude estimation errors are more affected by the gravity disturbance errors. In this paper, an improved gravity disturbance compensation method is performed to reduce the gravity-induced attitude measurement error in inertial navigation
Dongkai Dai +4 more
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