High-Precision Kinematic Satellite and Doppler Aided Inertial Navigation System

2010 ◽  
Vol 64 (1) ◽  
pp. 91-108 ◽  
Author(s):  
Ranjan Vepa ◽  
Amzari Zhahir
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Initial Alignment ◽  
Phase Measurements ◽  
Satellite Navigation System

In this paper an adaptive unscented Kalman filter based mixing filter is used to develop a high-precision kinematic satellite aided inertial navigation system with a modern receiver that incorporates carrier phase smoothing and ambiguity resolution. Using carrier phase measurements with multiple antennas, in addition to a set of typical pseudo-range estimates that can be obtained from a satellite navigation system such as GPS or GLONASS, the feasibility of generating high precision estimates of the typical outputs from an inertial navigation system is demonstrated. The methodology may be developed as a stand-alone system or employed in conjunction with a traditional strapped down inertial navigation system for purposes of initial alignment. Moreover the feasibility of employing adaptive mixing facilitates the possibility of using the system in an interoperable fashion with satellite navigation measurements.

scholarly journals Inertial Navigation Position and Orientation Estimation with Occasional Galileo Satellite Position Fixes and Stereo Camera Measurements

2012 ◽  
Vol 19 (2) ◽  
pp. 131-153
Author(s):  
Ranjan Vepa ◽  
Kanella Petrakou
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Initial Alignment ◽  
Stereo Camera ◽  
Satellite Navigation System ◽  
Representative Points

Abstract In this paper an adaptive unscented Kalman filter based mixing filter is used to integrate kinematic satellite aided inertial navigation system with vision based measurements of five representative points on a runway in a modern receiver that incorporates carrier phase smoothing and ambiguity resolution. Using high resolution multiple stereo camera based measurements of five points on the runway, in addition to a set of typical pseudo-range estimates that can be obtained from a satellite navigation system such GPS or GNSS equipped with a carrier phase receiver, the feasibility of generating high precision estimates of the typical outputs from an inertial navigation system is demonstrated. The methodology may be developed as a stand-alone system or employed in conjunction with a traditional strapped down inertial navigation systems for purposes of initial alignment. Moreover the feasibility of employing adaptive mixing was explored as it facilitates the possibility of using the system for developing a vision based automatic landing controller.

A fast alignment of marine strapdown inertial navigation system based on adaptive unscented Kalman Filter

2020 ◽  
pp. 014233122093429 ◽  
Author(s):  
Hossein Rahimi ◽  
Amir Ali Nikkhah ◽  
Kaveh Hooshmandi
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Initial Alignment ◽  
External Perturbations ◽  
Adaptive Unscented Kalman Filter ◽  
Strapdown Inertial Navigation

This study has presented an efficient adaptive unscented Kalman filter (AUKF) with the new measurement model for the strapdown inertial navigation system (SINS) to improve the initial alignment under the marine mooring conditions. Conventional methods of the accurate alignment in the ship’s SINS usually fail to succeed within an acceptable period of time due to the components of external perturbations caused by the movement of sea waves and wind waves. To speed up convergence, AUKF takes into account the impact of the dynamic acceleration on the filter and its gain adaptively tuned by considering the dynamic scale sensed by accelerometers. This approach considerably improved the corrections of the current residual error on the SINS and decreased the influence due to the external perturbations caused by the ship’s movement. Initial alignment algorithm based on AUKF is designed for large misalignment angles and verified by experimental data. The experimental test results show that the proposed algorithm enhanced the convergence speed of SINS initial alignment compared with some state-of-the-art existing approaches.

Researching of the low-precision SINS research for an unmanned vehicle

2020 ◽  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Adaptive Estimation ◽  
Inertial Navigation ◽  
Estimation Algorithm ◽  
Satellite Navigation ◽  
Accuracy Class ◽  
Unmanned Vehicle ◽  
Satellite Navigation System ◽  
Algorithmic Support

A small-sized inertial navigation system (SINS) Gyrolab GL VG 109 is researched. It is shown that this system has low accuracy; therefore it cannot be used to determine the parameters of an unmanned vehicle in an autonomous mode. Correction of the system from the satellite navigation system significantly increases the accuracy of determining the parameters of an unmanned vehicle, but only under conditions of stable signals from the satellite navigation system (SNS). The algorithmic support for the correction facility of the navigation system based on the scalar adaptive estimation algorithm and identification procedure is formed. The use of algorithmic correction of SINS from SNS using an estimation algorithm allows achieving an accuracy that corresponds to systems of the third accuracy class. Keywords inertial navigation system without platform; unmanned vehicle; correction; satellite navigation system; scalar estimation algorithm; scalar identification; analysis of accuracy

GNSS/IMU integration algorithm experimental evaluation

2021 ◽  
pp. 52-64
Author(s):  
I.A. Nagin ◽  
A.Yu. Shatilov ◽  
T.A. Muhamedzyanov ◽  
Yu.M. Inchagov
Keyword(s):  
Navigation System ◽  
Experimental Evaluation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Integration Algorithm ◽  
Satellite Navigation System ◽  
Navigation Solution ◽  
Inertial Measuring Unit ◽  
Measuring Unit

To improve the reliability and accuracy of navigation solution, the integration of the satellite navigation receiver with the inertial navigation system is used. These systems have complementary characteristics. An important part of the combined systems is the integration algorithm, which largely determines the final characteristics. The synthesis of such an algorithm for velocity, attitude and the errors of the inertial measuring unit estimation has been carried out. The algorithm is implemented in the software of the prototype of the inertial-satellite navigation system. The results of the experimental evaluation of algorithm’s characteristics for automotive dynamics are shown.

scholarly journals MEASUREMENT AND ESTIMATION OF THE ANGLE OF ATTACK AND THE ANGLE OF SIDESLIP

Aviation ◽  
2015 ◽  
Vol 19 (1) ◽  
pp. 19-24 ◽  
Author(s):  
Stanisław Popowski ◽  
Witold Dąbrowski
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Inertial Navigation System ◽  
Angle Of Attack ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Linear Velocity ◽  
Estimation Methods ◽  
Satellite Navigation System ◽  
Sideslip Estimation

The paper presents issues concerning the estimation of the angle of attack and the angle of sideslip on a flying object board. Angle of attack and sideslip estimation methods which are based on measurements of linear velocity components of an object with the Earth’s coordinates and on attitude angles of the object are presented. Both of these measurements originate from the inertial navigation system, and velocity measurement is obtained from the satellite navigation system. The idea of applying inertial and satellite navigation for the estimation of attack and sideslip angles is presented. Practical comparison of these estimation methods has been conducted based on logged parameters of a flight onboard a Mewa aircraft. Development proposals for these methods are presented as well.

scholarly journals Compensation for errors in determining the angle in the flight-navigation complex of the aircraft in case of failure of the satellite navigation system

2019 ◽  
Vol 11 (S) ◽  
pp. 7-16
Author(s):  
Eugeni V. AKIMOV ◽  
Dmitriy M. KRUZHKOV ◽  
Vyacheslav A. YAKIMENKO
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Ground Speed ◽  
Satellite Navigation System ◽  
Long Duration ◽  
Definition Of ◽  
Navigation Equipment ◽  
Navigation Information

Currently, navigation equipment for long-range aircraft, where the flight is characterized by a long duration and the absence of frequent and abrupt maneuvers, continues to be actively improved. Therefore, the main purpose of the work is to analyze the compensation of the error in determining the angle in the flight-navigation complex of the aircraft in case of failure of the satellite navigation system. In order to achieve the goal, inertial navigation methods using an attitude and heading reference system were used. It was determined that when comparing the evolution graphs of the heading and errors in determining the eastern component of the ground speed, it is possible to establish the dependence that at the moments of maneuvers associated with a significant change in the direction of this speed, the phase and amplitude of the error fluctuations are also changed. It was established that today the operational technology is equipped with blocks of an inertial navigation system. It helps to improve the accuracy of the definition of navigation information.

Investigation of the positioning accuracy for the integrated navigation system at the measurement signals interruption

2021 ◽  
Author(s):  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Forecast Accuracy ◽  
Satellite Navigation ◽  
Integrated Navigation ◽  
Positioning Accuracy ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Mobile Carrier

An integrated navigation system as part of an inertial navigation system corrected by signals from a satellite navigation system is researched. The integrated navigation system is installed on a mobile carrier is arranged. The organization of the experimental study, the design of the stand used to install the equipment on a mobile carrier, and the measurement processing technique are considered. When the signals of the satellite system disappear, signal prediction algorithms are used. The results of assessing the positioning accuracy of the integrated navigation system in case of discontinuities in the reception of navigation signals, assessing the forecast accuracy by using the presented algorithms and conclusions drawn from the analysis of the results are presented. Keywords inertial navigation system; satellite navigation system; predictive model; positioning accuracy; trends; self-organization; identification

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