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.

scholarly journals Improved ICCP Algorithm Considering Scale Error for Underwater Geomagnetic Aided Inertial Navigation

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Hongmei Zhang ◽  
Le Yang ◽  
Minglong Li
Keyword(s):  
Navigation System ◽  
Affine Transformation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Rigid Transformation ◽  
Practical Application ◽  
Matching Algorithm ◽  
Scaling Parameters ◽  
Scale Error ◽  
Contour Point

The iterative closest contour point (ICCP) matching algorithm has become more and more widely used in the underwater geomagnetic aided inertial navigation system (INS). In practical application, the traditional ICCP algorithm is sensitive to the initial positioning error of the INS and can only do rigid transformation for the INS track of the vehicle. Particularly when there exists scale error, the accuracy and stability of the traditional ICCP algorithm will be affected. To solve this problem, an improved algorithm based on affine transformation is proposed. Firstly, the fundamental of the ICCP is analyzed in detail, and an error analysis of the geomagnetic aided inertial navigation system is carried out, and then the rigid transformation is replaced with affine transformation to improve the performance of the ICCP. In contrast to the conventional approach, the proposed algorithm can solve the rotation, translation, and scaling parameters of the indicated track and the matching track, so it can significantly reduce the interference of the scale error. Experimental results confirm the effectiveness of the proposed 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.

Ocean Vehicle Inertial Navigation Method based on Dynamic Constraints

2018 ◽  
Vol 71 (6) ◽  
pp. 1553-1566
Author(s):  
Jiazhen Lu ◽  
Lili Xie
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
External Support ◽  
External Information ◽  
Identification Algorithm ◽  
Dynamic Identification ◽  
Dynamic Constraints ◽  
Attitude Error ◽  
Navigation Method

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced.

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.

An Improved Geomagnetic Matching Algorithm Using Rotation Angle Search Technique

2011 ◽  
Vol 383-390 ◽  
pp. 7576-7581 ◽  
Author(s):  
Ya Jie Liu ◽  
Yan Zhao ◽  
Fa Lin Wu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Rotation Angle ◽  
Inertial Navigation ◽  
Search Technique ◽  
Matching Accuracy ◽  
Search Range ◽  
Matching Algorithm ◽  
Contour Matching ◽  
Matching Probability

The accumulation course angle error of inertial navigation system will decrease the accuracy and reliability of an geomagnetism aided inertial navigation system using a geomagnetic contour matching algorithm. To improve the matching accuracy, the matching track and true track should be as parallel as possible. An improved geomagnetic matching algorithm is presented by introducing rotation angle search technique. To reduce the computation burden, improve operation efficiency and reduce false matching probability, a new search area determination method is proposed, which redefines the search region and reduces the search range. Simulation results demonstrate the effectiveness of the proposed algorithm and the improvement in the matching accuracy.

Estimating Gyro Drift of Strapdown Inertial Navigation System Based on Star Sensor

2012 ◽  
Vol 566 ◽  
pp. 235-238
Author(s):  
Guang Tao Zhou ◽  
Gui Min Shi ◽  
Lei Zhang ◽  
Kai Li
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Model Simulation ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Star Sensor ◽  
Integrated Navigation ◽  
Working Principle ◽  
Gyro Drift ◽  
Strapdown Inertial Navigation

In the strapdown inertial navigation system (SINS), gyro drift will result in navigation errors. A new algorithm based on star sensor is proposed in this paper to estimate gyro drift. The paper analyzed the working principle of star sensor and the technique of estimating gyro drift. Gyro drift can be estimated through the high-precision attitude information provided by a star sensor. Kalman filter is used in the integrated navigation model. Simulation results show that the proposed algorithm can estimate gyro drift accurately and improve the precision of SINS.

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