Imaging method of FMCW SAR with diving acceleration based on GPS/IMU integrated navigation data

2014 ◽  
Author(s):  
De-wei Wu ◽  
Ying Liang ◽  
Jun-yi Qi ◽  
Meng Zhu ◽  
You-qing Bai
Keyword(s):  
Imaging Method ◽  
Integrated Navigation ◽  
Navigation Data

scholarly journals The Availability Of Automatic Identification System (AIS) Based On Latency Position Reports In The Gulf Of Gdansk

2014 ◽  
Vol 21 (1) ◽  
pp. 59-74 ◽  
Author(s):  
Krzysztof Jaskólski
Keyword(s):  
Global Scale ◽  
Digital Data ◽  
Automatic Identification ◽  
Identification System ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Gulf Of Gdańsk ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Gulf Of Gdansk

AbstractThe problem of determining geographic position considered only in terms of measurement error, seems to be solved on a global scale. In view of the above, from the nineties, the operational characteristics of radio-navigation systems are equally important. The integrated navigation system operate in a multi-sensor environment and it is important to determinate a temporal validity of data to make it usable in data fusion process. In the age of digital data processing, the requirements for continuity, availability, reliability and integrity information are already grown. This article analyses the problem of time stamp discrepancies of dynamic position reports. For this purpose, the statistical summary of Latency Position Reports has been presented. The navigation data recordings were conducted during 30 days of March 2014 from 19 vessels located in area of Gulf of Gdansk. On the base of Latency Position Reports it is possible to designate the availability of AIS system.

Dealing with Observation Outages within Navigation Data using Gaussian Process Regression

2014 ◽  
Vol 67 (4) ◽  
pp. 603-615 ◽  
Author(s):  
Hongmei Chen ◽  
Xianghong Cheng ◽  
Haipeng Wang ◽  
Xu Han
Keyword(s):  
Kalman Filter ◽  
Theoretical Analysis ◽  
Gaussian Process ◽  
Inertial Navigation System ◽  
Dynamic Models ◽  
Gaussian Process Regression ◽  
Parametric Model ◽  
Integrated Navigation ◽  
Data Set ◽  
Navigation Data

Gaussian process regression (GPR) is used in a Spare-grid Quadrature Kalman filter (SGQKF) for Strap-down Inertial Navigation System (SINS)/odometer integrated navigation to bridge uncertain observation outages and maintain an estimate of the evolving SINS biases. The SGQKF uses nonlinearized dynamic models with complex stochastic nonlinearities so the performance degrades significantly during observation outages owing to the uncertainties and noise. The GPR calculates the residual output after factoring in the contributions of the parametric model that is used as a nonlinear SINS error predictor integrated into the SGQKF. The sensor measurements and SINS output deviations from the odometer are collected in a data set during observation availability. The GPR is then applied to predict SINS deviations from the odometer and then the predicted SINS deviations are fed to the SGQKF as an actual update to estimate all SINS biases during observation outages. We demonstrate our method's effectiveness in bridging uncertain observation outages in simulations and in real road tests. The results agree with the theoretical analysis, which demonstrate that SGQKF using GPR can maintain an estimate of the evolving SINS biases during signal outages.

The Design of Vehicle Integrated Navigation System Based on FPGA

2012 ◽  
Vol 442 ◽  
pp. 441-445
Author(s):  
Yong Sen Wei
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Gps Data ◽  
Integrated Navigation ◽  
Good Balance ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Navigation Algorithms ◽  
The Cost

A GPS/inertial navigation system design scheme is introduced. Combination of DSP and FPGA is used on the navigation board, and micro inertial navigation measuring element --ADIS16405 is used to sample required navigation data. DSP mainly implements navigation calculating based on navigation data, and realizes different navigation algorithms; FPGA in the system plays centeral control role, and not only samples IMU and GPS data, but also synchronize IMU and GPS in the real time, and preprocess and packet the navigation data. This paper also introduces the design of the software on FPGA. Practice proves that the scheme is feasible, and achieves the good balance between the cost, reliability and efficiency.

Design and Implementation of the Tightly-Coupled SINS / GPS Integrated Navigation System Based on FPGA for Target Missile

2013 ◽  
Vol 313-314 ◽  
pp. 287-290 ◽  
Author(s):  
Jing Jie Guo ◽  
Xiao Feng Cai ◽  
Chao He
Keyword(s):  
Navigation System ◽  
Integrated Control ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Nios Ii ◽  
Navigation Data ◽  
Design And Implementation ◽  
Control Computer ◽  
Tightly Coupled ◽  
Fpga Chip

A novel architecture of tightly-coupled SINS/ GPS integrated navigation system based on FPGA for target missile is proposed in this paper.The whole system is built on a single single FPGA chip containing a Nios II soft-core processor. In addition, the embedded real-time operating system μC/OS-IIis transplanted to the Nios II processor for managing each module in the system. The system can still provide the high-precision navigation data to integrated control computer of target missile when the number of available satellites is less than 4 by means of processing the pseudorange and pseudorange rate seprately. Therefore, the system has the strong application significance in terms of reducing the route shortcut of target missile.

Marine navigation with the LaCoste and Romberg inertial platform

Geophysics ◽  
1981 ◽  
Vol 46 (10) ◽  
pp. 1469-1470
Author(s):  
H. D. Valliant
Keyword(s):  
Navigation System ◽  
Short Range ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Marine Gravity ◽  
Potential Applications ◽  
Marine Navigation

The LaCoste and Romberg gravimeter platform constitutes a complete inertial navigation system and can provide navigational information for marine gravity surveys. Potential applications include: (1) Inertial input to an integrated navigation system using Kalman filtering techniques to utilize all available navigation data; (2) provision of a relatively low cost back‐up system to provide navigation continuity in the event of a failure in the primary navigation; and (3) primary navigation in regions not served by long‐range systems such as Loran C and beyond the range of short‐range systems.

Design and Implementation of a Compact Integrated Navigation System for Micro Multi-Propeller Multifunction Aerial Robots

2014 ◽  
Vol 556-562 ◽  
pp. 1553-1559 ◽  
Author(s):  
Chang Liu Zha ◽  
Xi Lun Ding ◽  
Yu Shu Yu ◽  
Xue Qiang Wang
Keyword(s):  
Low Power ◽  
Navigation System ◽  
Low Cost ◽  
Computational Cost ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Aerial Robots ◽  
Navigation Data ◽  
Processing Platform

Micro Multi-propeller Multifunction Aerial Robot (MMAR) needs a low-cost, small-size, low-power and lightweight navigation system. To meet these requirements, a compact navigation system for micro MMARs is designed and implemented. The system consists of a GPS receiver, a MEMS inertial measurement unit (IMU), a barometer, a magnetometer and a dual microprocessors navigation processing platform. According to the characteristics of the sensors used, the optimized Kalman Filter (KF) is designed to implement the navigation data fusion with less computational cost. The test results show that the system’s small size, low power consumption, light weight and better dynamic accuracy can meet the requirements of micro MMAR autonomous flight.

scholarly journals Integrated navigation approaches of vehicle aided by the strapdown celestial angles

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142093200 ◽  
Author(s):  
Hongmei Chen ◽  
Hongbo Gao ◽  
Huijuan Zhang
Keyword(s):  
Coordinate System ◽  
Bayesian Method ◽  
Azimuth Angle ◽  
Integrated Navigation ◽  
Inertial Coordinate System ◽  
Rapid Variability ◽  
Navigation Data ◽  
Geographic Coordinate System ◽  
Attitude Alignment ◽  
Data Dropouts

The integrated navigation method based on star sensor celestial angles (altitude angle and azimuth angle) is proposed to serve the need for rapidly responsive, reliable, and precise of a hypersonic vehicle under a sophisticated environment. An integrated navigation algorithm suitable for large azimuth misalignment is established under launching point inertial coordinate and local geographical coordinate system based on altitude angle and azimuth angles. Meanwhile, a Bayesian method for data dropouts aided by the strapdown celestial angles is presented for the rapid variability in the celestial star angle with active galaxies. A nonlinear Bayesian filter is applied to implement the simulation on account of the nonlinear feature of the state and measurement equations. The simulation results showed that the Bayesian method for integrated navigation data dropouts could be accomplished by altitude angle and azimuth angle aiding in both launching point inertial coordinate and local geographical coordinate systems, which converge to 1′ in 10 s. The method indicated that the integrated navigation significant errors derived from initial localization and initial attitude alignment could be modified by the strapdown inertial navigation system (SINS) supported by the star sensor’s celestial angle in the local geographic coordinate system in the early launch stage. For the seconds of the flight phase, the integrated navigation aided by celestial angles in the launching point inertial coordinate system was guaranteed for the feasibility and validity. During the flight, the feasibility and validity of integrated navigation were guaranteed aided by celestial angles in launching point inertial coordinate system.

scholarly journals Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Qigao Fan ◽  
Yaheng Wu ◽  
Jing Hui ◽  
Lei Wu ◽  
Zhenzhong Yu ◽  
...  
Keyword(s):  
Kalman Filtering ◽  
Integrated System ◽  
Working Environment ◽  
Integrated Navigation ◽  
Fusion Strategy ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Attitude Angle ◽  
Simulation Results ◽  
Better Than

In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

Sensor Fusion Based on Integrated Navigation Data of Sea Surface Vehicle with Machine Learning Method

2021 ◽  
Author(s):  
Egemen Belge ◽  
Recep Fatih Cantekin ◽  
Berna Erol ◽  
Volkan Akgul ◽  
Seda Karadeniz Kartal ◽  
...  
Keyword(s):  
Machine Learning ◽  
Sensor Fusion ◽  
Sea Surface ◽  
Machine Learning Method ◽  
Learning Method ◽  
Integrated Navigation ◽  
Navigation Data

scholarly journals Maritime Safety in Terms of the Availability for the AIS class B Binary Data Transmission, Based on Static Measurements, Performed on the VTS Zatoka Gdańska

2015 ◽  
Vol 22 (1) ◽  
pp. 49-64
Author(s):  
Krzysztof Jaskólski
Keyword(s):  
Data Transmission ◽  
Binary Data ◽  
Global Scale ◽  
Digital Data ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Class B ◽  
Digital Data Processing

Abstract The problem of the safety navigation considered only in terms of position error measurement, seems to be solved on a global scale. Thus, the operational characteristics of radio navigation systems such as availability are equally important. The integrated navigation system operate in a multi-sensor environment and it is important to determinate a temporal validity of data to make it usable in data fusion process. In the age of digital data processing, the requirements for continuity, availability, reliability and integrity information are already grown. This article analyses the problem of time stamp discrepancies of dynamic AIS class B position reports. For this purpose, the statistical summary of Latency Position Reports, derived from class B units has been presented. The navigation data recordings were conducted during 82 days of August, September and November 2014 from 20 vessels located in area of VTS ‘Zatoka Gdańska’. On the base of Latency Position Reports class B it is possible to designate the availability of AIS information system. For this purpose, the model of availability of AIS binary data transmission and research outcomes have been presented.

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