INS/GNSS Integration with Account for Timing Skew and Displacement of GNSS Antenna. Experience of Practical Realization

2021 ◽  
Vol 29 (3) ◽  
pp. 52-68
Author(s):  
N.B. Vavilova ◽  
◽  
A.A. Golovan ◽  
A.V. Kozlov ◽  
I.A. Papusha ◽  
...  
Keyword(s):  
Spatial Separation ◽  
Measurement Unit ◽  
Complex Data ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Positioning Systems ◽  
Global Positioning ◽  
Antenna Phase ◽  
Antenna Phase Center ◽  
Timing Skew

We examine two aspects specific to complex data fusion algorithms in integrated strapdown inertial navigation systems aided by global positioning systems, with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with the timing skew between their measurements. The first aspect refers to modifications of mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by Moscow Institute of Electromechanics and Automatics.

Integration of Satellite and Inertial Positioning Systems

1990 ◽  
Vol 43 (1) ◽  
pp. 48-57 ◽  
Author(s):  
M. Napier
Keyword(s):  
Global Positioning System ◽  
System Integration ◽  
System Performance ◽  
Inertial Navigation ◽  
Positioning System ◽  
Navigation Systems ◽  
Relative Positioning ◽  
Inertial Navigation Systems ◽  
Positioning Systems ◽  
Global Positioning

The Global Positioning System (GPS) offers an absolute positioning accuracy of 15 to 100 metres. Inertial navigation complements GPS in that it provides relative positioning and is totally self-contained. These two positioning sensors are ideally suited for system integration for although there is not necessarily an improvement in accuracy, the integration of GPS with inertial navigation systems (INS) does enable an increase in system performance.

The Use of Auxiliary Airborne Sensor Data in SPACE-M Photogrammetric Block Adjustments

1984 ◽  
Vol 38 (1) ◽  
pp. 3-14
Author(s):  
J. A. R. Blais ◽  
M. A. Chapman
Keyword(s):  
Global Positioning System ◽  
Mathematical Formulation ◽  
Real Data ◽  
Sensor Data ◽  
Navigation Systems ◽  
Test Results ◽  
Inertial Navigation Systems ◽  
Adjustment Program ◽  
Global Positioning ◽  
Topographical Mapping

The mathematical formulation used in the photogrammetric block adjustment program SPACE-M has recently been extended to accommodate auxiliary airborne sensor data corresponding to the position and/or attitude of the aerial camera at the time of film exposure. Examples of such systems are statoscopes, laser profilometers, Inertial Navigation Systems (INS) and the Global Positioning System (GPS). The description of the use of these auxiliary data in SPACE-M is outlined and references are given to other related formulations. Test results with simulated and limited real data are presented with some analysis of the implications for topographical mapping and other applications.

Smart Disaster Reduction Against Torrential Downpours: Micromedia Creation

2010 ◽  
Vol 5 (2) ◽  
pp. 187-193
Author(s):  
Haruo Hayashi ◽  
◽  
Keiko Tamura ◽  
Satoshi Kitada ◽  
Satomi Sudo ◽  
...  
Keyword(s):  
Information Dissemination ◽  
Current Practice ◽  
Technological Innovations ◽  
Navigation Systems ◽  
Disaster Prevention ◽  
Disaster Reduction ◽  
Positioning Systems ◽  
New Information ◽  
Global Positioning ◽  
Widespread Dissemination

In response to frequent flooding disasters due to local torrential downpours, the Japanese Meteorological Agency (JMA), along with other organizations, has advanced rapid tracking systems for torrential rains. It is also noted that people can now be easily located by the widespread dissemination of mobile phones and car navigation systems with easy-to-use global positioning systems (GPS). Unfortunately, the current practice of disseminating disaster information has failed to incorporate recent these technological innovations. In this paper, we propose a way to establish a new information dissemination media called “micromedia,” which provides individuals with disaster prevention information in real time, regardless of their location.

Navigation user requirements and emerging technologies for the Canadian transportation sector

1992 ◽  
Vol 19 (6) ◽  
pp. 1062-1080
Author(s):  
G. Lachapelle ◽  
E. J. Krakiwsky ◽  
K. P. Schwarz ◽  
A. Chandan
Keyword(s):  
Autonomous Systems ◽  
Cost Effective ◽  
User Requirements ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Positioning Systems ◽  
Enabling Technologies ◽  
Transportation Sector ◽  
Effective Use ◽  
Marine Air

An analysis of the Canadian transportation sector navigation user requirements and related technologies is presented. The sector is divided into three modes, namely the marine, air, and road modes of transportation. The parameters used to characterize navigation user requirements in transportation are defined; these include accuracy, availability, coverage, reliability, and capacity. Navigation requirements for selected classes of users within each of the three modes are presented. The characteristics of current wide area coverage navigation systems available in Canada are reviewed and compared to user requirements. This is followed by a description of selected enabling technologies considered essential for the full realization and widespread and economical use of emerging navigation systems. As current systems cannot meet all requirements, the potential of emerging navigation systems to provide enhanced performance levels in future is assessed. A review of enabling technologies considered important for the full realization and widespread and cost-effective use of the new systems is presented. Two major classes of emerging systems are then described, namely, autonomous systems such as inertial navigation systems and satellite-based radio-frequency systems such as global positioning systems. An analysis of the suitability of these systems in transportation is then presented. Possible developments required for the emerging navigation systems to be used in an optimal manner in the Canadian transportation sector are outlined in the conclusions. Key words: transportation, assessment, trends, navigation, positioning, location, guidance.

Global Observability Analysis IMU/Camera Integration

2013 ◽  
Vol 380-384 ◽  
pp. 1069-1072
Author(s):  
Qiang Fang ◽  
Xin Sheng Huang
Keyword(s):  
State Estimation ◽  
Inertial Measurement Unit ◽  
Sufficient Conditions ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Inertial Measurement ◽  
Observability Analysis ◽  
Inertial Measurements

Vision-aided inertial navigation systems can provide precise state estimates for the 3-D motion of a vehicle. This is achieved by combining inertial measurements from an inertial measurement unit (IMU) with visual observations from a camera. Observability is a key aspect of the state estimation problem of INS/Camera. In most previous research, conservative observability concepts based on Lie derivatives have extensively been used to characterize the estimability properties. In this paper, we present a novel approache to investigate the observability of INS/Camera: global observability. The global observability method directly starts from the basic observability definition. The global observability analysis approach is not only straightforward and comprehensive but also provides us with new insights compared with conventional methods. Some sufficient conditions for the global observability of the system is provided.

scholarly journals INDOOR NAVIGATION ASSISTANCE SYSTEM USING BLUETOOTH

2016 ◽  
pp. 44-45
Author(s):  
APURVA MEHTA ◽  
D. D. PUKALE ◽  
RADHIKA BHAGAT ◽  
RUJAL SHAH
Keyword(s):  
Short Range ◽  
Low Cost ◽  
Indoor Navigation ◽  
Assistance System ◽  
Navigation Systems ◽  
Positioning Systems ◽  
Navigation Assistance ◽  
The Past ◽  
Current Location ◽  
Global Positioning

In the past few years, a number of ideas have been proposed for indoor navigation systems. These ideas were not as widely implemented as outdoor positioning systems like GPS(Global Positioning Systems). We propose an indoor navigation assistance system using Bluetooth which is low cost and feasible to use in daily life. Our system enables users with handheld mobile devices to steer with ease through the indoor premises using the short range radio frequencies of Bluetooth. It also establishes user’s current location and the various paths leading to the destination. Dijkstra’s algorithm is used to determine the shortest path from the source to the required destination.

scholarly journals The design and development of software simulating interactive marine radar and electronic navigation instruments based on a PC platform

1999 ◽  
Author(s):  
◽  
Kieron Michael Tesling Cox
Keyword(s):  
South Africa ◽  
South African ◽  
International Standards ◽  
Navigation Systems ◽  
International Maritime Organisation ◽  
Positioning Systems ◽  
Direction Finder ◽  
Global Positioning ◽  
Marine Radar ◽  
Radar Simulator

This study was intended to develop suitable software to emulate Marine Radar and other Electronic Navigation Systems found on Merchant,vessels. This equipment includes Radar with or without Automatic Radar Plotting facilities, Navstar Global Positioning Systems, Echo Sounders, Radio Direction Finder as well as Decca Navigator. Certain of these aids are required in the Radar Simulator Specifications [ref 1] to which the SAMSA - South African Maritime Safety Authority (formerly the South African Department of Transport) adheres. SAMSA is the authority which approves Maritime training and Simulators in South Africa in compliance with International standards as laid down by, IMO - International Maritime Organisation.

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