Adaptive estimation of UVs navigation parameters by irregular inertial-satellite measurements

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Sergey V. Sokolov ◽  
Arthur I. Novikov
Keyword(s):  
Kalman Filter ◽  
Adaptive Estimation ◽  
Unmanned Vehicles ◽  
Dispersion Matrix ◽  
Navigation Systems ◽  
Satellite Measurements ◽  
Preliminary Calculation ◽  
Adaptation Algorithm ◽  
Estimation Errors ◽  
Content Type

PurposeThere are shortcomings of modern methods of ensuring the stability of Kalman filtration in unmanned vehicles’ (UVs) navigation systems under the condition of a priori uncertainty of the dispersion matrix of measurement interference. First, it is the absence of strict criteria for the selection of adaptation coefficients in the calculation of the a posteriori covariance matrix. Secondly, it is the impossibility of adaptive estimation in real time from the condition of minimum covariance of the updating sequence due to the necessity of its preliminary calculation.Design/methodology/approachThis paper considers a new approach to the construction of the Kalman filter adaptation algorithm. The algorithm implements the possibility of obtaining an accurate adaptive estimation of navigation parameters for integrated UVs inertial-satellite navigation systems, using the correction of non-periodic and unstable inertial estimates by high-precision satellite measurements. The problem of adaptive estimation of the noise dispersion matrix of the meter in the Kalman filter can be solved analytically using matrix methods of linear algebra. A numerical example illustrates the effectiveness of the procedure for estimating the state vector of the UVs’ navigation systems.FindingsAdaptive estimation errors are sharply reduced in comparison with the traditional scheme to the range from 2 to 7 m in latitude and from 1.5 to 4 m in longitude.Originality/valueThe simplicity and accuracy of the proposed algorithm provide the possibility of its effective application to the widest class of UVs’ navigation systems.

Adaptive estimation of the dispersion noise matrix at linear measurements based on non-periodic accurate observations

2020 ◽  
Keyword(s):  
Kalman Filter ◽  
Adaptive Estimation ◽  
Traditional Approach ◽  
Reference Points ◽  
Dispersion Matrix ◽  
Preliminary Calculation ◽  
Linear Measurements ◽  
Measuring Systems ◽  
Object Based ◽  
The Stability

The lack of modern methods for ensuring the stability of Kalman filtering under the priori uncertainty condition of the dispersion matrix measurement interference is the absence of strict criteria for choosing adaptation coefficients when calculating the posterior covariance matrix or the inability to adaptively evaluate in real time from the minimum covariance of the update sequence due to the need for its preliminary calculation. The article is devoted to the development of a new approach to adapting the Kalman filter, using the ability to obtain accurate measurements for a wide class of objects that irregularly enter their monitoring system (reference point, reference points, radio frequency identifiers, etc.). It is shown that for the distinguished case, the problem of adaptive estimation of the dispersion noise matrix of a linear meter in the Kalman filter can be solved analytically by using matrix methods of linear algebra. A numerical example illustrating the effectiveness of the procedure for estimating the state vector of a moving object based on the proposed algorithm in comparison with the traditional approach is presented. The simplicity and accuracy of the proposed algorithm provide the possibility of its effective application for the widest class of information-measuring systems. Keywords adaptive estimation; dispersion matrix of measurement noise; Kalman filter; non-periodic accurate observations

A new visual/inertial integrated navigation algorithm based on sliding-window factor graph optimisation

2020 ◽  
pp. 1-17
Author(s):  
Haiying Liu ◽  
Jingqi Wang ◽  
Jianxin Feng ◽  
Xinyao Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Prior Information ◽  
Sliding Window ◽  
Factor Graph ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Sliding Windows ◽  
Navigation Algorithm ◽  
Almost All

Abstract Visual–Inertial Navigation Systems (VINS) plays an important role in many navigation applications. In order to improve the performance of VINS, a new visual/inertial integrated navigation method, named Sliding-Window Factor Graph optimised algorithm with Dynamic prior information (DSWFG), is proposed. To bound computational complexity, the algorithm limits the scale of data operations through sliding windows, and constructs the states to be optimised in the window with factor graph; at the same time, the prior information for sliding windows is set dynamically to maintain interframe constraints and ensure the accuracy of the state estimation after optimisation. First, the dynamic model of vehicle and the observation equation of VINS are introduced. Next, as a contrast, an Invariant Extended Kalman Filter (InEKF) is constructed. Then, the DSWFG algorithm is described in detail. Finally, based on the test data, the comparison experiments of Extended Kalman Filter (EKF), InEKF and DSWFG algorithms in different motion scenes are presented. The results show that the new method can achieve superior accuracy and stability in almost all motion scenes.

scholarly journals A new adaptive Kalman filter for navigation systems of carrier-based aircraft

2021 ◽  
Author(s):  
Lifei Zhang ◽  
Shaoping Wang ◽  
Maria Sergeevna Selezneva ◽  
Konstantin Avenirovich Neysipin
Keyword(s):  
Kalman Filter ◽  
Navigation Systems ◽  
Adaptive Kalman Filter

Analysis of Three Velocity Plus Attitude Matching Methods for Transfer Alignment

2012 ◽  
Vol 433-440 ◽  
pp. 2802-2807
Author(s):  
Ying Hong Han ◽  
Wan Chun Chen
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Excellent Performance ◽  
Transfer Alignment ◽  
Matching Methods ◽  
Moving Base

For inertial navigation systems (INS) on moving base, transfer alignment is widely applied to initialize it. Three velocity plus attitude matching methods are compared. And Kalman filter is employed to evaluate the misalignment angle. Simulations under the same conditions show which scheme has excellent performance in precision and rapidness of estimations.

An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems

2012 ◽  
Vol 245 ◽  
pp. 323-329 ◽  
Author(s):  
Muhammad Ushaq ◽  
Jian Cheng Fang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Efficient Manner ◽  
Position Errors

Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

scholarly journals Modeling of temporal groundwater level variations based on a Kalman filter adaptation algorithm with exogenous inputs

2016 ◽  
Vol 19 (2) ◽  
pp. 191-206 ◽  
Author(s):  
Emmanouil A. Varouchakis
Keyword(s):  
Kalman Filter ◽  
Groundwater Level ◽  
Auxiliary Information ◽  
Model Parameters ◽  
Adaptation Algorithm ◽  
Arx Model ◽  
Resources Management ◽  
Temporal Modelling ◽  
The Mean ◽  
First Time

Reliable temporal modelling of groundwater level is significant for efficient water resources management in hydrological basins and for the prevention of possible desertification effects. In this work we propose a stochastic method of temporal monitoring and prediction that can incorporate auxiliary information. More specifically, we model the temporal (mean annual and biannual) variation of groundwater level by means of a discrete time autoregressive exogenous variable (ARX) model. The ARX model parameters and its predictions are estimated by means of the Kalman filter adaptation algorithm (KFAA) which, to our knowledge, is applied for the first time in hydrology. KFAA is suitable for sparsely monitored basins that do not allow for an independent estimation of the ARX model parameters. We apply KFAA to time series of groundwater level values from the Mires basin in the island of Crete. In addition to precipitation measurements, we use pumping data as exogenous variables. We calibrate the ARX model based on the groundwater level for the years 1981 to 2006 and use it to predict the mean annual and biannual groundwater level for recent years (2007–2010). The predictions are validated with the available annual averages reported by the local authorities.

A gas migration law study of a large-scale 3D physical similarity simulation with an adaptive Kalman filter algorithm

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yuyu Hao ◽  
Shugang Li ◽  
Tianjun Zhang
Keyword(s):  
Kalman Filter ◽  
Large Scale ◽  
Gas Migration ◽  
Adaptive Kalman Filter ◽  
Physical Similarity ◽  
Content Type ◽  
Gas Concentration ◽  
Rock Formation ◽  
Concentration Estimation ◽  
Migration Law

Purpose In this study, a physical similarity simulation plays a significant role in the study of crack evolution and the gas migration mechanism. A sensor is deployed inside a comparable artificial rock formation to assure the accuracy of the experiment results. During the building of the simulated rock formation, a huge volume of acidic gas is released, causing numerous sensor measurement mistakes. Additionally, the gas concentration estimation approach is subject to uncertainty because of the complex rock formation environment. As a result, the purpose of this study is to introduce an adaptive Kalman filter approach to reduce observation noise, increase the accuracy of the gas concentration estimation model and, finally, determine the gas migration law. Design/methodology/approach First, based on the process of gas floatation-diffusion and seepage, the gas migration model is established according to Fick’s second law, and a simplified modeling method using diffusion flux instead of gas concentration is presented. Second, an adaptive Kalman filter algorithm is introduced to establish a gas concentration estimation model, taking into account the model uncertainty and the unknown measurement noise. Finally, according to a large-scale physical similarity simulation platform, a thorough experiment about gas migration is carried out to extract gas concentration variation data with certain ventilation techniques and to create a gas chart of the time-changing trend. Findings This approach is used to determine the changing process of gas distribution for a certain ventilation mode. The results match the rock fissure distribution condition derived from the microseismic monitoring data, proving the effectiveness of the approach. Originality/value For the first time in large-scale three-dimensional physical similarity simulations, the adaptive Kalman filter data processing method based on the inverse Wishart probability density function is used to solve the problem of an inaccurate process and measurement noise, laying the groundwork for studying the gas migration law and determining the gas migration mechanism.

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