scholarly journals Aided Navigation Algorithm for Land Navigation System Using VMS with Indirect Drive Condition

2016 ◽  
Vol 20 (4) ◽  
pp. 314-320
Author(s):  
Hyungsoo Kim
Keyword(s):  
Navigation System ◽  
Navigation Algorithm ◽  
Drive Condition ◽  
Indirect Drive

Research on outdoor AGV precise navigation based on BDS/INS data fusion

2021 ◽  
pp. 1-12
Author(s):  
Yongwei Tang ◽  
Huijuan Hao ◽  
Jun Zhou ◽  
Yuexiang Lin ◽  
Zhenzhen Dong
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Navigation System ◽  
Integrated Navigation ◽  
Complex Environments ◽  
Assisted Navigation ◽  
Precise Control ◽  
Bee Colony ◽  
Navigation Algorithm ◽  
Navigation Error

AGV (Automated Guided Vehicle) technology has attracted increasing attention. Precise control of AGV position and attitude information in complex operating environment is a key part of smart factories. With outdoor AGV as a platform, this study uses BDS/INS combined navigation system combining Beidou positioning system and inertial navigation system and takes the velocity and position difference between BDS and INS as a model. An integrated navigation method is proposed to improve bee colony algorithm and optimize the BP neural network-assisted Kalman filtering to achieve accurate positioning. Moreover, the optimization of BP neural network navigation using INS navigation, network-assisted navigation and bee colony algorithm is simulated. Results demonstrate that the integrated navigation algorithm has effectiveness and feasibility, and can solve the problems of BDS misalignment and large INS navigation error in complex environments.

A Design of MIMU/GPS Integrated Navigation System

2013 ◽  
Vol 278-280 ◽  
pp. 1719-1722 ◽  
Author(s):  
Xiao Yu Zhang ◽  
Chun Lei Song
Keyword(s):  
Navigation System ◽  
Inertial Measurement Unit ◽  
High Performance ◽  
Inertial Navigation System ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Test Results ◽  
Simulation Test ◽  
Integrated Navigation System ◽  
Navigation Algorithm

A new scheme of small integrated navigation system based on micro inertial measurement unit (MIMU), global position system (GPS) is presented. The characteristic of these sensors and the structure of system are introduced respectively. The TI high performance floating point DSP TMS320C6713B is used as core processor, which is designed to realize both the data collecting and the navigation calculating. According to the error models of inertial navigation system, an integrated navigation algorithm used Kalman filter is proposed to fuse the information from all of the sensors. The simulation test results show the feasibility of the system design.

scholarly journals Bridging GPS Outages for Fixed-wing Unmanned Aerial Vehicles

2014 ◽  
Vol 68 (2) ◽  
pp. 308-326 ◽  
Author(s):  
Wenjie Zhao ◽  
Zhou Fang ◽  
Ping Li
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Navigation System ◽  
Force Model ◽  
Gravity Vector ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Hardware In Loop ◽  
Hardware In Loop Simulation

This paper reports on a new navigation algorithm for fixed-wing Unmanned Aerial Vehicles (UAVs) to bridge Global Position System (GPS) outages, based on a common navigation system configuration. The ground velocity is obtained from wind-compensated airspeed, and a centripetal force model is introduced to estimate the motion acceleration. Compensated by this acceleration, the gravity vector can be extracted from the accelerometer measurement. Finally, fusing the information of the ground velocity, magnetic heading, barometric height, and gravity vector, the Integrated Navigation System (INS) is reconstructed, and an Extended Kalman Filter (EKF) is used to estimate INS errors. Hardware-in-loop simulation results show that compared with INS-only solutions, the proposed method effectively resists long-term drift of INS errors and significantly improves the accuracy for dynamic navigation during GPS outages.

scholarly journals SINS/BDS Tightly-Coupled Integrated Navigation Algorithm for Hypersonic Vehicle

2021 ◽  
Author(s):  
kai chen ◽  
Sen-sen PEI ◽  
Cheng-zhi ZENG ◽  
Gang DING
Keyword(s):  
Navigation System ◽  
Maximum Velocity ◽  
Field Tests ◽  
Hypersonic Vehicle ◽  
Integrated Navigation ◽  
State Equations ◽  
Integrated Navigation System ◽  
Near Space ◽  
Navigation Algorithm ◽  
Tightly Coupled

Abstract A tightly-coupled integrated navigation system (TCINS) for hypersonic vehicles is proposed when the satellite signals are disturbed. Firstly, the architecture of the integrated navigation system for the hypersonic vehicle is introduced. This system applies fiber SINS, BeiDou satellite receiver (BDS) and SOPC missile-born computer. Subsequently, the SINS mechanization for hypersonic vehicle is presented. The J2 model is employed for the normal gravity of the near space. An algorithm for updating the attitude, velocity and position is designed. State equations and measurement equations of SINS/BDS tightly-coupled integrated navigation for hypersonic vehicle are given, and a scheme of validity for satellite data is designed. Finally, the SINS/BDS tightly-coupled vehicle field tests and hardware-in-the-loop (HWIL) simulation tests are carried out. The vehicle field test and HWIL simulation results show that the heading angle error of tightly-coupled integrated navigation is within 0.2°, the pitch and roll angle errors are within 0.05°, the maximum velocity error is 0.3m/s, and the maximum position error is 10m.

Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor

1999 ◽  
Vol 11 (1) ◽  
pp. 39-44 ◽  
Author(s):  
Motoji Yamamoto ◽  
◽  
Nobuhiro Ushimi ◽  
Akira Mohri
Keyword(s):  
Measurement Error ◽  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Navigation System ◽  
Location Information ◽  
Work Space ◽  
Target Direction ◽  
Navigation Algorithm ◽  
Direction Information

Sensor-based navigation used a target direction sensor for mobile robots among unknown obstacles in work space is discussed. The advantage of target direction information is robustness of measurement error for online navigation, compared to robot location information. Convergence of navigation using target direction information is discussed. An actual sensor system using two CdS sensors to measure target direction is proposed. Using target direction information, we present a new sensor based navigation algorithm in unknown obstacle environment. The navigation algorithm is based on target direction information, unlike sensor-based motion planning algorithms based on mobile robot location information. Using a sensor-based navigation system, we conducted a navigation experiment and simulations in unknown obstacle environment.

Study of Expressway Lane Departure Warning and Navigation System under Different Visibility Conditions

2011 ◽  
Vol 135-136 ◽  
pp. 938-943
Author(s):  
Yong Mei Yang ◽  
Nai Quan Sun ◽  
Hong Ke Xu
Keyword(s):  
Navigation System ◽  
Histogram Equalization ◽  
Identification Algorithm ◽  
Lane Departure Warning ◽  
Characteristic Parameters ◽  
Detection Range ◽  
Navigation Algorithm ◽  
Sobel Operator ◽  
Lane Departure ◽  
Good Detection

In order to improve the safety of driving under different visibility meteorological conditions on the expressway, this paper analyses the composition and operation principle of the expressway lane departure warning and navigation system based on machine vision. And an effective lane mark identification algorithm suiting for different visibility situations is proposed. Firstly the image contrast between the expressway lane and its background is increased by using histogram equalization technology, improving detecting range of lanes and accuracy. Secondly the edges in the lane directions are detected by utilizing specific Sobel operator. In order to suit for different visibility situations and improve detecting efficiency, the method of maximum classes square error is applied to threshold segmentation. Finally, lane is abstracted according to expressway lane features after image Hough transform. Based on lanes identification, this paper designs a navigation algorithm of driving direction. This algorithm performs driving direction navigation decisions according to two characteristic parameters which are deviation angle and deviation distance. The experimental results indicate that the developed system exhibits good detection performances in recognition reliability and navigation decision. It has proved that this system has high accuracy, large detection range and high practicability.

Research on Rotating Modulated Strap-Down Inertial Navigation System Based on Micro-Electro-Mechanical Systems (MEMS) Sensors (RMSINS)

2011 ◽  
Vol 148-149 ◽  
pp. 192-197 ◽  
Author(s):  
Tao Xu ◽  
Bin Wang ◽  
Xue Yun Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Mechanical Systems ◽  
Inertial Navigation ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Navigation Algorithm ◽  
Improving Accuracy ◽  
Performance Results ◽  
Advanced Development

Advanced development of an Inertial Navigation System (INS) using rotating modulated technique based on Micro-Electro-Mechanical Systems (MEMS) sensors is described. The system architecture and the mechanical structure are detailed. Alignment and navigation algorithms apposite to the RMSINS system are derived. Preliminary system static navigation experiment results are presented. Performance results show that rotating modulated technology, with appropriate navigation algorithm, makes it possible to use the MEMS sensors in SINS system, with the benefit of reducing system costs as well as improving accuracy.

Embedded Micro Inertial Navigation System

2012 ◽  
Vol 249-250 ◽  
pp. 1234-1246 ◽  
Author(s):  
Krzysztof Daniec ◽  
Karol Jędrasiak ◽  
Roman Koteras ◽  
Aleksander Nawrat
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Ground Vehicles ◽  
Fusion Algorithm ◽  
Loosely Coupled ◽  
Navigation Algorithm ◽  
University Of Technology ◽  
Point To Point ◽  
And Robotics

This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.

Application of Fuzzy Adaptive Kalman Filtering on GPS/INS Integrated Navigation System

2011 ◽  
Vol 317-319 ◽  
pp. 1512-1517
Author(s):  
Ming Wei Liu ◽  
Fen Fen Xiong ◽  
Jin Huang
Keyword(s):  
Kalman Filtering ◽  
Adaptive Filtering ◽  
Navigation System ◽  
Adaptive Controller ◽  
Integrated Navigation ◽  
Noise Levels ◽  
Integrated Navigation System ◽  
Navigation Algorithm ◽  
The Common ◽  
Fuzzy Adaptive

A fuzzy adaptive Kalman filtering navigation algorithm is proposed and further applied to the GPS/INS integrated navigation system in this paper. The common Sage-Husa adaptive filtering algorithm and its drawbacks are elaborated. In order to adjust the Sage-Husa adaptive filter to the optimal state to improve the accuracy of the integrated navigation system, the fuzzy logic adaptive controller is used to adjust the weighting form for the covariance matrix of measurement noise to gradually make it approach to the true noise levels. Simulation results show that the proposed algorithm can not only inhibit the filtering divergence but also improve filtering accuracy.

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