scholarly journals In-motion Alignment of a Low-cost GPS/INS under Large Heading Error

2014 ◽  
Vol 68 (2) ◽  
pp. 355-366 ◽  
Author(s):  
Burak H. Kaygısız ◽  
Bekir Şen
Keyword(s):  
Global Positioning System ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Positioning System ◽  
Performance Tests ◽  
Alignment Procedure ◽  
Attitude Error ◽  
Global Positioning ◽  
New Type ◽  
Navigation Accuracy

This paper presents a new type of Global Positioning System/Inertial Navigation System (GPS/INS) providing higher navigation accuracy under large initial heading error. The mechanization introduced is applicable to low cost GPS/INS systems and enhances the performance when the heading error is large. The proposed approach has the capability to decrease large heading errors very quickly and can start the strapdown navigation computations under poor heading accuracy without any special alignment procedure. Although the design is applicable to land, sea and aerial vehicles, a land vehicle is used for the performance tests. The test is conducted around a closed path and the proposed system is compared to a GPS/INS system based on small attitude error assumption. The performance of both systems is given in this paper.

scholarly journals Integrated Camera-Based Navigation

2000 ◽  
Vol 53 (2) ◽  
pp. 237-245 ◽  
Author(s):  
Brita Helene Hafskjold ◽  
Bjørn Jalving ◽  
Per Espen Hagen ◽  
Kenneth Gade
Keyword(s):  
Global Positioning System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Total System ◽  
Positioning System ◽  
Position Measurement ◽  
Basic Principles ◽  
Global Positioning ◽  
Simulation Results ◽  
Navigation Accuracy

This paper presents an integrated INS (Inertial Navigation System) and camera-based navigation system. The camera-based navigation system provides position measurement aiding to the INS. This is an alternative to the more conventional GPS (Global Positioning System) aided INS. The system is intended for UAVs (Unmanned Aerial Vehicles) and long-range missiles. The basic principles of camera-based navigation are presented. The Kalman filter based integration of INS and camera-based navigation is discussed. Total system simulation results are shown together with INS simulations for comparison. Finally, a brief overview of factors that improve the navigation accuracy is presented.

Integrated Navigation of Mobile Robot Based on Neural Network and Fault Detection

2012 ◽  
Vol 433-440 ◽  
pp. 3175-3180
Author(s):  
Hong Mei Wang ◽  
Ming Lu Zhang ◽  
Guang Zhu Meng
Keyword(s):  
Neural Network ◽  
Fault Detection ◽  
Global Positioning System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Integrated Navigation ◽  
Global Positioning ◽  
Navigation Accuracy

When global positioning system (GPS) signal outages, the integrated navigation accuracy of GPS and strap-down inertial navigation system (SINS) will decline with time, and even navigation system cannot work. To avoid this, a new design is introduced. When GPS works normally, square root filter estimates the errors of position, velocity and attitude and compensates the outputs of SINS. When GPS is out of order, back propagation neural network (BPNN) will take the place of GPS to calculate the error parameters, thus the accuracy of navigation will enhance. And in this paper, the unit of fault detection is added to detect whether GPS signal outages or not. The simulation results show the effectiveness of this method

Sign in / Sign up

Export Citation Format

Share Document