scholarly journals A New Efficient Filtering Model for GPS/SINS Ultratight Integration System

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Chaochen Wang ◽  
Yuming Bo ◽  
Changhui Jiang
Keyword(s):  
Navigation System ◽  
The State ◽  
Integrated System ◽  
State Model ◽  
Integration System ◽  
Filter Model ◽  
Integration Mode ◽  
Measurement Vector ◽  
Computation Load ◽  
Vector Dimension

Global Positioning System (GPS) and strap-down inertial navigation system (SINS) are recognized as highly complementary and widely employed in the community. The GPS has the advantage of providing precise navigation solutions without divergence, but the GPS signals might be blocked and attenuated. The SINS is a totally self-contained navigation system which is hardly disturbed. The GPS/SINS integration system could utilize the advantages of both the GPS and SINS and provide more reliable navigation solutions. According to the data fusion strategies, the GPS/SINS integrated system could be divided into three different modes: loose, tight, and ultratight integration (LI, TI, and UTC). In the loose integration mode, position and velocity difference from the GPS and SINS are employed to compose measurement vector, in which the vector dimension has nothing to do with the amount of the available satellites. However, in the tight and ultratight modes, difference of pseudoranges and pseudorange rates from the GPS and SINS are employed to compose the measurement vector, in which the measurement vector dimension increases with the amount of available satellites. In addition, compared with the loose integration mode, clock bias and drift are included in the integration state model. The two characteristics magnify the computation load of the tight and ultratight modes. In this paper, a new efficient filter model was proposed and evaluated. Two schemes were included in this design for reducing the computation load. Firstly, a difference between pseudorange measurements was determined, by which clock bias and drift were excluded from the integration state model. This step reduced the dimension of the state vector. Secondly, the integration filter was divided into two subfilters: pseudorange subfilter and pseudorange rate subfilter. A federated filter was utilized to estimate the state errors optimally. In the second step, the two subfilters could run in parallel and the measurement vector was divided into two subvectors with lower dimension. A simulation implemented in MATLAB software was conducted to evaluate the performance of the new efficient integration method in UTC. The simulation results showed that the method could reduce the computation load with the navigation solutions almost unchanged.

Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Seong Yun Cho ◽  
Hyung Keun Lee ◽  
Hung Kyu Lee
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
The State ◽  
State Model ◽  
Low Grade ◽  
State Variables ◽  
Estimation Errors ◽  
Strapdown Inertial Navigation

In this paper, performance of the initial fine alignment for the stationary nonleveling strapdown inertial navigation system (SDINS) containing low-grade gyros is analyzed. First, the observability is analyzed by conducting a rank test of an observability matrix and by investigating the normalized error covariance of the extended Kalman filter based on the ten-state model. The results show that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and nonleveling attitude angles of a vehicle containing the SDINS. Especially, this paper shows that the larger the attitude angles of the vehicle are, the greater the estimation errors are. Finally, it is shown that the performance of the eight-state model excluding the two unobservable state variables is better than that of the ten-state model in the fine alignment by a Monte Carlo simulation.

The Developmental Trading State

2017 ◽  
Author(s):  
Alex J. Bellamy
Keyword(s):  
Economic Growth ◽  
East Asia ◽  
National Economy ◽  
East Asian ◽  
The State ◽  
State Model ◽  
Principal Function ◽  
Mass Violence ◽  
The Way

This chapter demonstrates that the downwards pressure that state consolidation placed on mass violence was amplified by the type of state that emerged. Across East Asia, governments came to define themselves as “developmental” or “trading” states whose principal purpose was to grow the national economy and thereby improve the economic wellbeing of their citizens. Governments with different ideologies came to embrace economic growth and growing the prosperity of their populations as the principal function of the state and its core source of legitimacy. Despite some significant glitches along the way the adoption of the developmental trading state model has proven successful. Not only have East Asian governments succeeded in lifting hundreds of millions of people out of poverty, the practices and policy orientations dictated by this model helped shift governments and societies away from belligerent practices towards postures that prioritized peace and stability. This reinforced the trend towards greater peacefulness.

scholarly journals The Two-State Model and Israeli Constitutionalism

2015 ◽  
Vol 44 (4) ◽  
pp. 7-20
Author(s):  
Mazen Masri
Keyword(s):  
Vantage Point ◽  
The State ◽  
State Model ◽  
Jewish State ◽  
The People ◽  
Potential Impact ◽  
Constitutional System ◽  
Definition Of ◽  
Constitutional Regime ◽  
Two State Model

Partitioning historic Palestine into two states is often presented as the most plausible solution to the Israeli-Palestinian conflict. This article examines the potential impact of such a development on the Palestinian citizens of Israel (PCI), primarily from the vantage point of Israel's constitutional regime. The article explores three fundamental aspects of the Israeli constitutional system—its instability, the “Jewish and democratic” definition of the state, and the exclusion of the PCI from “the people” as the unit that holds sovereignty—and argues that the envisaged two-state solution will only reinforce the definition of Israel as a Jewish state and consequently provide further justification for the infringement on the rights of its Palestinian citizens.

scholarly journals Methodology of Forming a Comprehensive Mechanism for Public Administration of Service Cooperation Development in Rural Areas of Ukraine

2019 ◽  
Vol 8 (4S) ◽  
pp. 152-156 ◽  
Keyword(s):  
Public Administration ◽  
Rural Areas ◽  
State Level ◽  
The State ◽  
Integrated System ◽  
Coherent System ◽  
Situational Analysis ◽  
Rural Settlements ◽  
Social Infrastructure ◽  
Cooperative Movement

with carrying out the decentralization reform public administration mechanisms play an important role in ensuring the comprehensive development of rural areas. Expanding the use of such mechanisms in the sphere of cooperation on the state level will facilitate development and support of small entrepreneurial forms, common use of material and technical basis, emerging new working places, building social infrastructure and engineering communications, providing qualitative services to citizens and preserving rural settlements. The objective of the article is to identify constituents of the comprehensive mechanism of public administration for development of service cooperation of rural areas in Ukraine and to integrate them into a coherent system which would facilitate realization of the state strategies and programmes to achieve the Sustainable Development Goals. The object of the research is a comprehensive mechanism of public administration for development of service cooperation. Research methodology is grounded upon the use of general scientific knowledge methods, in particular, logical and semantic, induction and deduction for formulating definitions, systemic and situational analysis for characterizing constituents of a comprehensive mechanism and identifying their interrelations. Based on the systemic approach it has been defined that comprehensive mechanism is an integrated system which combines interrelated and dependable functioning of legislative, institutional, organisational and economic, financial and credit, information and communication as well as staffing mechanisms in the sphere of developing cooperative movement in the rural localities. It is proved that every mechanism influences its particular direction and is formed at the international, national, regional and local levels based on cooperative values and generalized system of principles. Special attention is paid to the research of international and national legislation to generalize the system of principles of cooperation, intermunicipal cooperation, public authorities and public associations’ functioning, upon which the comprehensive mechanism for public administration of service cooperation development in rural areas of Ukraine is based.

A Single Chip Integrated Navigation System

1993 ◽  
Vol 46 (1) ◽  
pp. 95-104 ◽  
Author(s):  
Eric Aardoom ◽  
André Nieuwland
Keyword(s):  
Navigation System ◽  
System Integration ◽  
Cost Effective ◽  
Integrated System ◽  
Integrated Navigation ◽  
Single Chip ◽  
Integrated Navigation System ◽  
System Integrity ◽  
Cost Effective Approach ◽  
Application Specific

Recently, integration of different radionavigation systems has become very popular, since it improves system integrity, availability, accuracy and reliability. This paper discusses a new, flexible and cost-effective approach to system integration, centred on a single-chip application specific processor (ASP). An overview of this integrated system is presented and the application of the ASP for the implementation of a six-channel GPS, OMEGA, Loran-C and MLS receiver is given. The ASP is currently being implemented on a 180000 transistor 1·6μ, m CMOS Sea of Gates chip, and is expected to run at 100 MHz clock speed.

Integrated Aquaculture: Road ahead for sustainable rural development in Meghalaya

2019 ◽  
Vol 6 (1) ◽  
pp. 29-35
Author(s):  
Rupak Nath ◽  
S. M. Kharbuli ◽  
R. N. Bhuyan
Keyword(s):  
Sustainable Development ◽  
The State ◽  
Integrated System ◽  
Farm Income ◽  
Fish Production ◽  
Sustainable Rural Development ◽  
Integrated Aquaculture ◽  
The North ◽  
North Eastern ◽  
Live Stock

Abstract: The unitary concept of producing crop is gradually changing to integrated system, with a view to integrate different farming components viz. fishery, live stock, horticulture to produce fish, eggs, meat and vegetables from the same farm. The major benefit of integrated system is utilization of resources effectively and recycling of waste within the farm and thus, ultimately maintaining ecological balance. Meghalaya a state located in the North Eastern India, characterized by hills and plateaus interspersed with valley lands in the foot hills. People of Meghalaya are predominantly dependent on agriculture and allied sector. Fish a very valuable source of protein, comprise an important part of the diet of local tribal people. As local wild fish supplies from natural water bodies diminishing and relatively limited aquaculture, fish production in the state is insufficient to satisfy the present demand of fish in Meghalaya. The present fish production in the state is 4.77 thousand tonnes against the demand estimated 30 thousand tonnes per annum. Massive demand of the fish is providing a market opportunity for fish producers in the state. The present study categorized integrated aquaculture as an important and promising enterprise for rural farming households of Meghalaya to maximize their farm income, providing nutritional security and as a whole to achieve sustainable development in the rural sector. Key words: Integrated aquaculture, sustainable development, hilly area

scholarly journals Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3084 ◽  
Author(s):  
Jungbeom Kim ◽  
Younsil Kim ◽  
Junesol Song ◽  
Donguk Kim ◽  
Minhuck Park ◽  
...  
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Phase Measurement ◽  
Integrated System ◽  
Integer Ambiguity ◽  
Noise Correlation ◽  
Carrier Phase Measurement ◽  
Phase Measurements ◽  
Performance Improvements ◽  
Global Positioning

In this study, we combined a time-differenced carrier phase (TDCP)-based global positioning system (GPS) with an inertial navigation system (INS) to form an integrated system that appropriately considers noise correlation. The TDCP-based navigation system can determine positions precisely based on high-quality carrier phase measurements without difficulty resolving integer ambiguity. Because the TDCP system contains current and previous information that violate the format of the conventional Kalman filter, a delayed state filter that considers the correlation between process and measurement noise is utilized to improve the accuracy and reliability of the TDCP-based GPS/INS. The results of a dynamic simulation and an experiment conducted to verify the efficacy of the proposed system indicate that it can achieve performance improvements of up to 70% and 60%, respectively, compared to the conventional algorithm.

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