A High-accuracy SINS/CNS Integrated Navigation Scheme Based on Overall Optimal Correction

2018 ◽  
Vol 71 (6) ◽  
pp. 1567-1588 ◽  
Author(s):  
Jiafang Zhu ◽  
Xinlong Wang ◽  
Hengnian Li ◽  
Huan Che ◽  
Qunsheng Li
Keyword(s):  
Long Range ◽  
Navigation System ◽  
Integration Scheme ◽  
Integrated Navigation ◽  
Position Information ◽  
Optimal Correction ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Geometric Relationship ◽  
Navigation Scheme

In order to utilise the position and attitude information of a Celestial Navigation System (CNS) to aid a Strapdown Inertial Navigation System (SINS) and make it possible to achieve long-range and high-precision navigation, a new SINS/CNS integrated navigation scheme based on overall optimal correction is proposed. Firstly, the optimal installation angle of the star sensor is acquired according to the geometric relationship between the refraction stars area and the star sensor's visual field. Secondly, an analytical method to determine position and horizontal reference is introduced. Thirdly, the mathematical model of the SINS/CNS integrated navigation system is established. Finally, some simulations are carried out to compare the navigation performance of the proposed SINS/CNS integrated scheme with that of the traditional gyro-drift-corrected integration scheme. Simulation results indicate that in the proposed scheme, without the aid of SINS, CNS can provide attitude and position information and the errors of the SINS are able to be estimated and corrected efficiently. Therefore, the navigation performance of the proposed SINS/CNS scheme is superior to that of a more traditional scheme in long-range flight.

scholarly journals Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Chong Shen ◽  
Zesen Bai ◽  
Huiliang Cao ◽  
Ke Xu ◽  
Chenguang Wang ◽  
...  
Keyword(s):  
Optical Flow ◽  
Navigation System ◽  
Low Cost ◽  
Integrated Navigation ◽  
Static State ◽  
Integrated Navigation System ◽  
Microaerial Vehicles ◽  
Flow Information ◽  
Optical Flow Sensor ◽  
Navigation Scheme

The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.

scholarly journals Data Fusion Based on Adaptive Interacting Multiple Model for GPS/INS Integrated Navigation System

2018 ◽  
Vol 8 (9) ◽  
pp. 1682 ◽  
Author(s):  
Chuang Zhang ◽  
Chen Guo ◽  
Daheng Zhang
Keyword(s):  
Navigation System ◽  
Integrated System ◽  
Filter Method ◽  
Integration Scheme ◽  
Interacting Multiple Model ◽  
Integrated Navigation ◽  
Multiple Model ◽  
Integrated Navigation System ◽  
Comparison Results ◽  
On Line

The extended Kalman filter (EKF) as a primary integration scheme has been applied in the Global Positioning System (GPS) and inertial navigation system (INS) integrated system. Nevertheless, the inherent drawbacks of EKF contain not only instability caused by linearization, but also massive calculation of Jacobian matrix. To cope with this problem, the adaptive interacting multiple model (AIMM) filter method is proposed to enhance navigation performance. The soft-switching characteristic, which is provided by interacting multiple model algorithm, permits process noise to be converted between upper and lower limits, and the measurement covariance is regulated by Sage adaptive filtering on-line Moreover, since the pseudo-range and Doppler observations need to be updated, an updating policy for classified measurement is considered. Finally, the performance of the GPS/INS integration method on the basis of AIMM is evaluated by a real ship, and comparison results demonstrate that AIMM could achieve a more position accuracy.

scholarly journals Based on Grid Reference Frame for SINS/CNS Integrated Navigation System in the Polar Regions

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-8 ◽  
Author(s):  
Song Lijun ◽  
Zhao Wanliang ◽  
Cheng Yuxiang ◽  
Chen Xiaozhen
Keyword(s):  
Reference Frame ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Polar Regions ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Low Latitudes ◽  
And Performance

As the inertial navigation system cannot meet the precision requirements of global navigation in the special geographical environment of the Polar Regions, this paper presents Strapdown Inertial Navigation System (SINS)/Celestial Navigation System (CNS) integrated navigation system of airborne based on Grid Reference Frame (GRF) and the simulation is carried out. The result of simulation shows that the SINS/CNS integrated navigation system is superior to the single subsystem in precision and performance, which not only effectively inhibits the error caused by gyro drift but also corrects the navigation parameters of system without delay. Comparing the simulation in the middle and low latitudes and in the Polar Regions, the precision of SINS/CNS integrated navigation system is the same in the middle and low latitudes and in the Polar Regions.

scholarly journals SINS/Landmark Integrated Navigation Based on Landmark Attitude Determination

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2917
Author(s):  
Shuqing Xu ◽  
Haiyin Zhou ◽  
Jiongqi Wang ◽  
Zhangming He ◽  
Dayi Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Feature Matching ◽  
Integrated Navigation ◽  
Basic Scheme ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Landmark Navigation ◽  
Navigation Method

Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.

Study on Method of Autonomous Mobile Robot Integrated Navigation Based on SLAM

2012 ◽  
Vol 263-266 ◽  
pp. 1290-1297 ◽  
Author(s):  
Jing Zeng ◽  
Xiao Song Guo ◽  
Guo Liang Zhang
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
The Self ◽  
Autonomous Mobile Robot ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Unknown Environment ◽  
Navigation Scheme

Aiming at the problem of navigation in unknown environment of autonomous mobile robot, the self-made mobile robot was taken as research object. The integrated navigation technology was adapted to integrate the SLAM navigation system, DR navigation system and MEMS micro inertial navigation system possessed by the studied robot to construct the SLAM/DR/MEMS integrated navigation system of mobile robot. The experiments were carried to test the method, and the results show that the precision of navigation and location of mobile robot was developed by the integrated navigation scheme.

scholarly journals Precise Shearer Positioning Technology Using Shearer Motion Constraint and Magnetometer Aided SINS

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Ming Yan ◽  
Zengcai Wang
Keyword(s):  
Navigation System ◽  
Observation Equation ◽  
Integrated Navigation ◽  
Working Process ◽  
Position Information ◽  
Integrated Navigation System ◽  
Federated Kalman Filter ◽  
Yaw Angle ◽  
Motion Constraint ◽  
Angle Observation

The key technology to realize intelligent unmanned coal mining is the strapdown inertial navigation system (SINS); however, the gradual increase of cumulative error during the working process needs to be solved. On the basis of an SINS/odometer (OD)-integrated navigation system, this paper adds magnetometer (MAG)-aided positioning and proposes an SINS/OD/MAG-integrated shearer navigation system. The velocity observation equation is obtained from the speed constraints during shearer movement, and the yaw angle observation equation is obtained from the magnetometer output. The position information of the SINS output is calibrated using these two observations. In order to improve the fault tolerance of the integrated navigation system, an adaptive federated Kalman filter is established to complete the data fusion of the SINS. Experimental results show that the positioning accuracy of the SINS/OD/MAG-integrated navigation system is 75.64% and 74.01% higher in the east and north directions, respectively, than the SINS/OD-integrated navigation system.

scholarly journals Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Yuan Xu ◽  
Tongqian Liu ◽  
Bin Sun ◽  
Yong Zhang ◽  
Siamak Khatibi ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Mobile Robot ◽  
Navigation System ◽  
Robot Navigation ◽  
Visual Navigation ◽  
Mobile Robot Navigation ◽  
Integrated Navigation ◽  
Position Information ◽  
Integrated Navigation System ◽  
Navigation Method

In order to further improve positioning accuracy, this paper proposes an indoor vision/INS integrated mobile robot navigation method using multimodel-based multifrequency Kalman filter. Firstly, to overcome the insufficient accuracy of visual data when a robot turns, a novel multimodel integrated scheme has been investigated for the mobile robots with Mecanum wheels which can make fixed point angled turns. Secondly, a multifrequency Kalman filter has been used to fuse the position information from both the inertial navigation system and the visual navigation system, which overcomes the problem that the filtering period of the integrated navigation system is too long. The proposed multimodel multifrequency Kalman filter gives the root mean square error (RMSE) of 0.0184 m in the direction of east and 0.0977 m in north, respectively. The RMSE of visual navigation system is 0.8925 m in the direction of east and 0.9539 m in north, respectively. Experimental results show that the proposed method is effective.

Night Observation in Automated Astronomical Navigation

1989 ◽  
Vol 42 (2) ◽  
pp. 291-297
Author(s):  
V. Nastro ◽  
A. Russo ◽  
R. Santamaria ◽  
A. Sposito ◽  
M. Vultaggio ◽  
...  
Keyword(s):  
Navigation System ◽  
Integrated Navigation ◽  
Global System ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Automatic Reading

In this paper two devices as applied to a marine sextant are presented. A night viewer replaces the usual telescope to allow observation of the horizon in darkness. In addition an automatic reading of altitude is made practicable by a ten-bit encoder mounted on the index arm. In this way the proposed Celestial Navigation Automated Global System may be included within an integrated navigation system.

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