scholarly journals Airborne Integrated Navigation System Based on SINS/GPS/TAN/EOAN

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Junjun Tang ◽  
Peijuan Li
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Integrated Navigation ◽  
Long Distance ◽  
Integrated Navigation System ◽  
Long Time ◽  
Federated Kalman Filter ◽  
Entropy Weighted ◽  
Navigation Errors ◽  
Navigation Information

Considering the drawbacks that GPS signal is susceptible to obstacles and TAN becomes useless in some area when without any terrain data or with a featureless terrain field, to realize long-distance and high-precision navigation, a navigation system based on SINS/GPS/TAN/EOAN is presented. When GPS signal is available, GPS is used to correct errors of SINS; when GPS is unavailable, a terrain selection method based on the entropy weighted gray relational decision-making method is use to distinguish terrain into matchable areas and unmatchable areas; then, for the matchable areas, TAN is used to correct errors of SINS, for the unmatchable areas, EOAN is used to correct errors of SINS. The principles of SINS, GPS, TAN, and EOAN are analyzed, the mathematic models of SINS/GPS, SINS/TAN, and SINS/EOAN are constructed, and finally the federated Kalman filter is used to fuse navigation information. Simulation results show that the trajectory of SINS/GPS/TAN/EOAN is close to the ideal one in both matchable area or unmatchable area and whose navigation errors are obviously reduced, which is important for the realization of long-time and high-precision positioning.

scholarly journals Low Cost Integrated Navigation System for Unmanned Vessel

2017 ◽  
Vol 24 (s3) ◽  
pp. 110-115
Author(s):  
Changsong Yang ◽  
Qi Wang
Keyword(s):  
Navigation System ◽  
Physical Simulation ◽  
Low Cost ◽  
Measurement Unit ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Fast Drift ◽  
Navigation Errors ◽  
Navigation Information

Abstract Large errors of low-cost MEMS inertial measurement unit (MIMU) lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS). This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.

Studies of the integrated navigation system correction in the absence of a satellite signal

2021 ◽  
Author(s):  
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Operation Mode ◽  
Satellite System ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Correction Signal ◽  
Satellite Signal ◽  
Navigation Information

The schemes of navigation systems correction are considered. The operation mode of the aircraft during navigation is analyzed. An adaptive modification of the linear Kalman filter is used to correct the navigation information. An algorithm for predicting a correction signal based on a neural network in the event of a loss of a SNS correction signal is formed. Experimental results show the effectiveness of the algorithm. Keywords aircraft; inertial navigation system; satellite system; Kalman filter; neural networks; genetic algorithm

Application of Federated Filter to AUV Based on Terrain-Aided SINS

2014 ◽  
Vol 711 ◽  
pp. 338-341 ◽  
Author(s):  
Qi Wang ◽  
Cheng Shan Qian ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filtering ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Filtering Method ◽  
Long Time ◽  
Federated Filtering ◽  
Strapdown Inertial Navigation

To improve the navigation precision and reliability of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Federated Filter (FF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and Federated Filtering method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the Federated Filtering method is able to improve the long-time navigation precision and reliability, relative to the traditional Kalman Filtering method.

scholarly journals Modified Sage-Husa Adaptive Kalman Filter-Based SINS/DVL Integrated Navigation System for AUV

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Ruixin Liu ◽  
Fucheng Liu ◽  
Chunning Liu ◽  
Pengchao Zhang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicle ◽  
Positive Definiteness ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
The Stability ◽  
Navigation Accuracy ◽  
Navigation Errors

This paper presents a modified Sage-Husa adaptive Kalman filter-based SINS/DVL integrated navigation system for the autonomous underwater vehicle (AUV), where DVL is employed to correct the navigation errors of SINS that accumulate over time. When negative definite items are large enough, different from the positive definiteness of noise matrices which cannot be guaranteed for the conventional Sage-Husa adaptive Kalman filter, the proposed modified Sage-Husa adaptive Kalman filter deletes the negative definite items of adaptive update laws of the noise matrix to ensure the convergence of the Sage-Husa adaptive Kalman filter. In other words, this method sacrifices some filtering precision to ensure the stability of the filter. The simulation tests are implemented to verify that expected navigation accuracy for AUV can be obtained using the proposed modified Sage-Husa adaptive Kalman filter.

Carrier-Phase Differential GPS/INS Integrated Navigation System

2013 ◽  
Vol 760-762 ◽  
pp. 457-461
Author(s):  
Lu Zhang ◽  
Gong Liu Yang
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Closed Loop ◽  
Measurement Data ◽  
Integrated Navigation ◽  
Differential Gps ◽  
Actual Measurement ◽  
Integrated Navigation System ◽  
Arm Processor

According to high accuracy demand in the measurement field, this paper designs a high precision inertial measurement system by using DSP and ARM processor to realize carrier-phase differential GPS/INS integrated navigation. This paper chooses Kalman filter to estimate the systematic error, uses closed loop method to correct, and carries out carrier-phase differential GPS/INS data fusion. Through manipulating actual measurement data, the integrated navigation results indicate that position accuracy reaches cm level; velocity accuracy reaches cm/s level and attitude achieves high precision. The experiment proves the feasibility and effectiveness of carrier-phase differential GPS/INS integrated navigation system.

Federated Particle Filter Technology Based on JIDS/SINS/GPS Integrated Navigation System

2013 ◽  
Vol 347-350 ◽  
pp. 1544-1548
Author(s):  
Zi Yu Li ◽  
Yan Liu ◽  
Ping Zhu ◽  
Cheng Ying
Keyword(s):  
Kalman Filter ◽  
Particle Filter ◽  
Navigation System ◽  
Integrated System ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Fusion Algorithm ◽  
Integrated Navigation System ◽  
Non Linear ◽  
Federated Kalman Filter

In multi-sensor integrated navigation systems, when sub-systems are non-linear and with Gaussian noise, the federated Kalman filter commonly used generates large error or even failure when estimating the global fusion state. This paper, taking JIDS/SINS/GPS integrated navigation system as example, proposes a federated particle filter technology to solve problems above. This technology, combining the particle filter with the federated Kalman filter, can be applied to non-linear non-Gaussian integrated system. It is proved effective in information fusion algorithm by simulated application, where the navigation information gets well fused.

A Ship GPS/DR Integrated Navigation System

2012 ◽  
Vol 591-593 ◽  
pp. 1818-1821
Author(s):  
Yuan Liang Zhang
Keyword(s):  
Data Fusion ◽  
Navigation System ◽  
Global Economy ◽  
Dead Reckoning ◽  
Fusion Method ◽  
Integrated Navigation ◽  
Gps Receiver ◽  
Integrated Navigation System ◽  
Ship Navigation ◽  
Navigation Information

The development of the global economy stimulates the exploitation of the ocean. A precise and stable ship navigation system is very important for people to explore the ocean. Dead reckoning (DR) system is a frequently used navigation system for sailing in the ocean. It can provide precise short term navigation information but the error of DR system can accumulate over time without limitation. GPS can be used for localization and navigation in outside environment. Although the SA policy was removed the accuracy of GPS for civilian use is still big. But the errors of GPS are bounded. Since the complementarity of DR and GPS system the integrated GPS/DR system can provide good navigation results. In this paper a new Kalman filter based DR/GPS data fusion method is proposed. This method is designed based on the characteristic of the GPS receiver. By using this data fusion method the cheap GPS receiver can cooperate with DR system to provide precise navigation information for ships. Simulation is conducted to validate the proposed fusion method. The good result shows the potential of this fusion method for the ship navigation.

Rapid Transfer Alignment Using Integrated Navigation System as Reference

2015 ◽  
Vol 713-715 ◽  
pp. 1156-1165
Author(s):  
Wei Sheng ◽  
Xiao Han ◽  
Ding Sheng Sun
Keyword(s):  
Navigation System ◽  
The Body ◽  
Integrated Navigation ◽  
Body Frame ◽  
Time Duration ◽  
Transfer Alignment ◽  
Integrated Navigation System ◽  
Attitude Error ◽  
Long Time ◽  
The Impact

Traditional transfer alignment must use a pure Inertial Navigation System (INS) as the reference, because using the integrated navigation system as the reference would disrupt the transfer alignment process and lead to the divergence of the fine alignment filter. But there are some cases require the cooperation between the master INS and slave INS for long time duration, such as mapping. To guarantee the accuracy of the master INS, integrated navigation feedback is needed. So, transfer alignment technique using the integrated navigation system as the reference is required. Taking the error of master INS into account, a transfer alignment attitude error in the body frame was defined, which makes the transfer alignment attitude error free from the impact of integrated navigation feedback corrections. Then, its error equations were developed and a Kalman filter was designed based on it. Finally, a transfer alignment simulation using a GPS/INS integrated navigation system as reference was performed to validate the proposed scheme.

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