Comparative Analysis of Fusion Algorithms in a Loosely-Coupled Integrated Navigation System on the Basis of Real Data Processing

Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.

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GNSS Spoofing Detection Ability of a Loosely Coupled INS/GNSS Integrated Navigation System for two Integrity Monitoring Methods

Proceedings of the 2017 International Technical Meeting of The Institute of Navigation ◽

10.33012/2017.14953 ◽

2017 ◽

Cited By ~ 1

Author(s):

Yang Liu ◽

Qiangwen Fu ◽

Zhenbo Liu ◽

Sihai Li

Keyword(s):

Navigation System ◽

Integrated Navigation ◽

Monitoring Methods ◽

Integrity Monitoring ◽

Detection Ability ◽

Integrated Navigation System ◽

Loosely Coupled ◽

Spoofing Detection

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Loosely Coupled GPS/INS Integrated Navigation System based on Kalman Filter and Complementary Filter for Aircraft

2017 2nd International Conference on Electrical & Electronic Engineering (ICEEE) ◽

10.1109/ceee.2017.8412926 ◽

2017 ◽

Author(s):

Md. Amirul Islam ◽

Sujit Saha

Keyword(s):

Kalman Filter ◽

Navigation System ◽

Integrated Navigation ◽

Integrated Navigation System ◽

Loosely Coupled ◽

Complementary Filter

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DATA PROCESSING OF AN INTEGRATED NAVIGATION SYSTEM BY THE KAUFMAN FILTER

Труды НИИР ◽

10.34832/niir.2020.3.4.006 ◽

2020 ◽

Author(s):

В.В. ДЕМЬЯНОВ ◽

И.С. ШУСТОВ ◽

Д.С. ЧИРОВ

Keyword(s):

Data Processing ◽

Navigation System ◽

Inertial Navigation System ◽

Inertial Navigation ◽

Integrated Navigation ◽

Integrated Navigation System

Приведены результаты работ, выполненных в рамках исследования вопросов разработки унифицированной навигационной системы робототехнических комплексов. Рассмотрена возможность применения фильтра Кауфмана для обработки данных навигационной системы наземного робототехнического комплекса. Приводится анализ применимости фильтра Кауфмана для решения задачи фильтрации данных инерциальной навигационной системы. This article presents the results of the development of the unified navigation system of robotic complexes. The possibility of using the Kaufman filter for processing of data of a navigation system of a ground robotic complex is considered. An analysis of the applicability of the Kaufman filter for solving the problem of filtering data of the inertial navigation system is presented.

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Application of Modified Self-Adaptive Kalman Filter in Integrated Navigation System of Autonomous Underwater Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.79.298 ◽

2011 ◽

Vol 79 ◽

pp. 298-303

Author(s):

Yu Shan Sun ◽

Wen Jiang Li ◽

Zai Bai Qin ◽

Hong Li Chen ◽

Ji Qing Li

Keyword(s):

Kalman Filter ◽

Data Processing ◽

Navigation System ◽

Autonomous Underwater Vehicle ◽

Underwater Vehicle ◽

Integrated Navigation ◽

Adaptive Kalman Filter ◽

Underwater Robots ◽

Integrated Navigation System ◽

Self Adaptive

Owing to the complex operating environment of underwater vehicles, many uncertainties of sensors data, big noises of sensors , low precision and high rate of wild points of underwater acoustic sensors, data processing of motion sensors data for underwater vehicle navigation system becomes extremely important. The integrated navigation system of autonomous underwater vehicle based on dead-reckoning is introduced. An modified adaptive Kalman filter is adopted for underwater vehicle sensors information data processing. Experimental results show that the modified self-adaptive Kalman filter(SAKF) is effective, and can meet the underwater robots perform a variety of tasks in the navigation and positioning accuracy..

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An Improved Adaptive Extended Kalman Filter Algorithm of SINS/GPS Loosely-Coupled Integrated Navigation System

International Journal of Engineering & Technology ◽

10.14419/ijet.v7i4.27.22488 ◽

2018 ◽

Vol 7 (4.27) ◽

pp. 87

Author(s):

Yuyan Wang ◽

Xiuyun Meng ◽

Jilu Liu

Keyword(s):

Kalman Filter ◽

Real Time ◽

Extended Kalman Filter ◽

Navigation System ◽

Measurement Noise ◽

Integrated Navigation ◽

Integrated Navigation System ◽

Loosely Coupled ◽

Kalman Filter Algorithm ◽

Adaptive Extended Kalman Filter

The Kalman Filter algorithm usually cannot estimate noise statistics in real-time, in order to deal with this issue, a new kind of improved Adaptive Extended Kalman Filter algorithm is proposed. Based on residual sequence, this algorithm mainly improves the adaptive estimator of the filter algorithm, which can estimate measurement noise in real-time. Furthermore, this new filter algorithm is applied to a SINS/GPS loosely-coupled integrated navigation system, which can automatically adjust the covariance matrix of measurement noise as noise varies in the system. Finally, the original Extended Kalman Filter and the improved Adaptive Extended Kalman Filter are applied respectively to simulate for the SINS/GPS loosely-coupled model. Tests demonstrate that, the improved Adaptive Extended Kalman Filter reduces both position error and velocity error compared with the original Extended Kalman Filter.

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