scholarly journals Inertial navigation algorithm for trajectory of front-wheel walker estimation

Heliyon ◽  
2019 ◽  
Vol 5 (6) ◽  
pp. e01896 ◽  
Author(s):  
Quang Vinh Doan ◽  
Duy Duong Pham
Keyword(s):  
Inertial Navigation ◽  
Front Wheel ◽  
Navigation Algorithm

scholarly journals An INS/Geomagnetic Integrated Navigation Algorithm Based on Matching Strategy and Hierarchical Filtering

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 460
Author(s):  
Xiusheng Duan ◽  
Jing Xiao ◽  
Xiaohui Qi ◽  
Yifei Liu
Keyword(s):  
Magnetic Measurements ◽  
Inertial Navigation ◽  
State Equation ◽  
Integrated Navigation ◽  
Matching Algorithm ◽  
Filtering Algorithm ◽  
Navigation Algorithm ◽  
Physical Experiments ◽  
Matching Strategy ◽  
Navigation Information

To improve the positioning accuracy of an inertial/geomagnetic integrated navigation algorithm, a combined navigation method based on matching strategy and hierarchical filtering is proposed. First, the PDA-ICCP geomagnetic matching algorithm is improved. On basis of evaluating the distribution of magnetic measurements, a number of controllable magnetic values are regenerated to participate in the geomagnetic matching algorithm (GMA). As a result, accuracy of the matching algorithm is ensured and its efficiency is improved. Secondly, the integrated navigation filter is designed based on the hierarchical filtering strategy, in which the navigation information of the geomagnetic matching module and inertial navigation module are respectively filtered and fused in the main filter. In this way, the shortcoming that GMA is unable to provide continuous and real-time navigation information is overcome. Meanwhile, precision of the inertial/geomagnetic integrated navigation algorithm is improved. Finally, the feasibility and validity of the proposed algorithm are verified by simulation and physical experiments. Compared with the integrated filtering algorithm which directly uses the error equation of inertial navigation system (INS) as the state equation, the proposed hierarchical filtering algorithm can achieve higher positioning precision.

Simplified Design of Dual Quaternion Strapdown Inertial Navigation Integration Algorithms

2012 ◽  
Vol 239-240 ◽  
pp. 1421-1427
Author(s):  
Yu Rong Lin ◽  
Liang Chen ◽  
Zhen Xian Fu
Keyword(s):  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Dual Quaternion ◽  
Velocity Increment ◽  
Time Performance ◽  
Navigation Algorithm ◽  
Integration Algorithms ◽  
Simplified Algorithm ◽  
The Cost ◽  
Strapdown Inertial Navigation

Dual quaternion navigation algorithm gain higher accuracy than traditional strapdown inertial navigation algorithm at the cost of real-time performance. In order to reduce tremendous computation amount of the former, a simplified design scheme for navigation integration algorithms is presented in this paper. First, based on update principle and computation rules of dual quaternion we separate rotational and translational increment information from dual quaternion increment, and deduce exact solutions defined by the spiral vector for thrust velocity increment, gravitational velocity increment and displacement increment. Then, considering characteristics of a strapdown inertial navigation system, implementation schemes of simplified integration algorithms for dual quaternion differential equations in three frames, including thrust velocity coordinates, gravitational velocity coordinates and position coordinates, are designed separately. Under the premise of ensuring the accuracy advantage of the original dual quaternion inertial navigation algorithm, the proposed simplified algorithm significantly improve the computational efficiency. This will lay favorable foundation for engineering realization of the dual quaternion strapdown inertial navigation algorithm.

scholarly journals An Improved Method of Geomagnetic Aided Inertial Navigation Algorithm with Gyro and Accelerometer Error Corrected Online

2018 ◽  
Vol 198 ◽  
pp. 02007
Author(s):  
Song ZhongGuo ◽  
Gao Jiuxiang ◽  
Zhang Jinsheng ◽  
Xi Xiaoli
Keyword(s):  
Affine Transformation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Procrustes Analysis ◽  
Improved Method ◽  
Matching Algorithm ◽  
Navigation Algorithm ◽  
Reference Information ◽  
Gyro Drift ◽  
Navigation Method

In consideration of the problem that traditional geomagnetic aided navigation method cannot reduce the scaling error of indication track in inertial navigation system (INS), which will further limit the error correction precision of gyro and accelerometer, an improved geomagnetic matching algorithm based on affine transformation is proposed in this paper. A geomagnetic matching algorithm led to the optimal affine transformation solution by Procrustes analysis is presented and develops latitude and longitude reference information. Then a 13-dimensional-state extended Kalman filter which estimates the attitude misalignment angles, the position error, the velocity error, the Gyro drift, and accelerometer error is introduced to continuously update the output of INS and remove the accumulative error. The results show that geomagnetic aided navigation based on improved algorithm has better location accuracy and correction accuracy of INS than the traditional method.

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