GINav: a MATLAB-based software for the data processing and analysis of a GNSS/INS integrated navigation system

GPS Solutions ◽  
2021 ◽  
Vol 25 (3) ◽  
Author(s):  
Kai Chen ◽  
Guobin Chang ◽  
Chao Chen
Keyword(s):  
Data Processing ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System

scholarly journals Navigation Switching Strategy-Based SINS/GPS/ADS/DVL Fault-Tolerant Integrated Navigation System

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Weiqi Li ◽  
Rui Zhang ◽  
Hongjie Lei
Keyword(s):  
Data Processing ◽  
Navigation System ◽  
Fault Tolerant ◽  
Integrated Navigation ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Switching Strategy ◽  
Integrated Navigation System ◽  
Serial Data ◽  
Federated Filtering

Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.

DATA PROCESSING OF AN INTEGRATED NAVIGATION SYSTEM BY THE KAUFMAN FILTER

2020 ◽  
Author(s):  
В.В. ДЕМЬЯНОВ ◽  
И.С. ШУСТОВ ◽  
Д.С. ЧИРОВ
Keyword(s):  
Data Processing ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Integrated Navigation System

Приведены результаты работ, выполненных в рамках исследования вопросов разработки унифицированной навигационной системы робототехнических комплексов. Рассмотрена возможность применения фильтра Кауфмана для обработки данных навигационной системы наземного робототехнического комплекса. Приводится анализ применимости фильтра Кауфмана для решения задачи фильтрации данных инерциальной навигационной системы. This article presents the results of the development of the unified navigation system of robotic complexes. The possibility of using the Kaufman filter for processing of data of a navigation system of a ground robotic complex is considered. An analysis of the applicability of the Kaufman filter for solving the problem of filtering data of the inertial navigation system is presented.

Application of Modified Self-Adaptive Kalman Filter in Integrated Navigation System of Autonomous Underwater Vehicle

2011 ◽  
Vol 79 ◽  
pp. 298-303
Author(s):  
Yu Shan Sun ◽  
Wen Jiang Li ◽  
Zai Bai Qin ◽  
Hong Li Chen ◽  
Ji Qing Li
Keyword(s):  
Kalman Filter ◽  
Data Processing ◽  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Underwater Robots ◽  
Integrated Navigation System ◽  
Self Adaptive

Owing to the complex operating environment of underwater vehicles, many uncertainties of sensors data, big noises of sensors , low precision and high rate of wild points of underwater acoustic sensors, data processing of motion sensors data for underwater vehicle navigation system becomes extremely important. The integrated navigation system of autonomous underwater vehicle based on dead-reckoning is introduced. An modified adaptive Kalman filter is adopted for underwater vehicle sensors information data processing. Experimental results show that the modified self-adaptive Kalman filter(SAKF) is effective, and can meet the underwater robots perform a variety of tasks in the navigation and positioning accuracy..

scholarly journals MEMS Based SINS/OD Filter for Land Vehicles’ Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Huisheng Liu ◽  
Zengcai Wang ◽  
Susu Fang ◽  
Chao Li
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Microelectromechanical Systems ◽  
Low Cost ◽  
Detection Algorithm ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Land Vehicles ◽  
Mems Imu

A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.

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