scholarly journals Application of Inertial and GNSS Integrated Navigation to Seabird Biologging

2021 ◽  
Vol 33 (3) ◽  
pp. 526-536
Author(s):  
Masaru Naruoka ◽  
Yusuke Goto ◽  
Henri Weimerskirch ◽  
Takashi Mukai ◽  
Taichi Sakamoto ◽  
...  
Keyword(s):  
Power Consumption ◽  
High Performance ◽  
Feasible Solution ◽  
Satellite System ◽  
Integrated Navigation ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Navigation Algorithm ◽  
Global Navigation Satellite ◽  
And Control

The study demonstrates the versatility of integration of inertial navigation and global navigation satellite system (GNSS) with its unique application to seabird biologging. Integrated navigation was originally developed in the field of aerospace engineering, which requires accurate and reliable position, velocity, and attitude information for the guidance and control of aircraft and spacecraft. Due to its high performance and recent progress of sensor development, integrated navigation has been widely used not only in aerospace but also in many fields represented by land and marine vehicles. One of its ultimate applications under the constraint on the size and power consumption of devices is this study. Seabird biologging involves attaching a logging device onto a seabird for scientific purposes to understand its biomechanics, behavior, and so on. Design restrictions for the device include several tens of grams mass, several tens of millimeters in length, and several tens of milliamperes of power consumption. It is more difficult to maintain the accuracy of such a device than applications to an artificial vehicle. This study has shown that integrated navigation is a feasible solution for such extreme applications with two examples: biologging for wandering albatrosses and great frigatebirds. Furthermore, it should be stressed that the navigation captured the world’s first data of their detailed trajectories and attitudes in their dynamic and thermal soarings. For completeness, the navigation algorithm, simulation results to show the effectiveness of the algorithm, and the logging devices attached to bird are also described.

scholarly journals TDMA Datalink Cooperative Navigation Algorithm Based on INS/JTIDS/BA

Electronics ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 782
Author(s):  
Shuo Cao ◽  
Honglei Qin ◽  
Li Cong ◽  
Yingtao Huang
Keyword(s):  
Distribution System ◽  
Large Scale ◽  
Satellite System ◽  
Time Of Arrival ◽  
Military Operations ◽  
Position Information ◽  
Cooperative Navigation ◽  
Navigation Algorithm ◽  
Geometric Dilution Of Precision ◽  
Global Navigation Satellite

Position information is very important tactical information in large-scale joint military operations. Positioning with datalink time of arrival (TOA) measurements is a primary choice when a global navigation satellite system (GNSS) is not available, datalink members are randomly distributed, only estimates with measurements between navigation sources and positioning users may lead to a unsatisfactory accuracy, and positioning geometry of altitude is poor. A time division multiple address (TDMA) datalink cooperative navigation algorithm based on INS/JTIDS/BA is presented in this paper. The proposed algorithm is used to revise the errors of the inertial navigation system (INS), clock bias is calibrated via round-trip timing (RTT), and altitude is located with height filter. The TDMA datalink cooperative navigation algorithm estimate errors are stated with general navigation measurements, cooperative navigation measurements, and predicted states. Weighted horizontal geometric dilution of precision (WHDOP) of the proposed algorithm and the effect of the cooperative measurements on positioning accuracy is analyzed in theory. We simulate a joint tactical information distribution system (JTIDS) network with multiple members to evaluate the performance of the proposed algorithm. The simulation results show that compared to an extended Kalman filter (EKF) that processes TOA measurements sequentially and a TDMA datalink navigation algorithm without cooperative measurements, the TDMA datalink cooperative navigation algorithm performs better.

scholarly journals Constrained Unscented Particle Filter for SINS/GNSS/ADS Integrated Airship Navigation in the Presence of Wind Field Disturbance

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 471 ◽  
Author(s):  
Zhaohui Gao ◽  
Dejun Mu ◽  
Yongmin Zhong ◽  
Chengfan Gu
Keyword(s):  
Wind Speed ◽  
Particle Filter ◽  
State Estimation ◽  
Wind Field ◽  
Satellite System ◽  
Integrated Navigation ◽  
Unscented Particle Filter ◽  
Field Disturbance ◽  
Global Navigation Satellite ◽  
Optimal State Estimation

Due to the disturbance of wind field, it is difficult to achieve precise airship positioning and navigation in the stratosphere. This paper presents a new constrained unscented particle filter (UPF) for SINS/GNSS/ADS (inertial navigation system/global navigation satellite system/atmosphere data system) integrated airship navigation. This approach constructs a wind speed model to describe the relationship between airship velocity and wind speed using the information output from ADS, and further establishes a mathematical model for SINS/GNSS/ADS integrated navigation. Based on these models, it also develops a constrained UPF to obtain system state estimation for SINS/GNSS/ADS integration. The proposed constrained UPF uses the wind speed model to constrain the UPF filtering process to effectively resist the influence of wind field on the navigation solution. Simulations and comparison analysis demonstrate that the proposed approach can achieve optimal state estimation for SINS/GNSS/ADS integrated airship navigation in the presence of wind field disturbance.

A Novel GNSS Attitude Determination Method Based on Primary Baseline Switching for A Multi-Antenna Platform

2020 ◽  
Vol 12 (5) ◽  
pp. 747
Author(s):  
Peng Zhang ◽  
Yinzhi Zhao ◽  
Huan Lin ◽  
Jingui Zou ◽  
Xinzhe Wang ◽  
...  
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Satellite System ◽  
Poor Quality ◽  
Integrated Navigation ◽  
Determination Method ◽  
Integrated Navigation System ◽  
Determination System ◽  
Vehicle Test ◽  
Global Navigation Satellite

The global navigation satellite system (GNSS)-based attitude determination system has attracted more and more attention with the advantages of having simplified algorithms, a low price and errors that do not accumulate over time. However, GNSS signals may have poor quality or lose lock in some epochs with the influence of signal fading and the multipath effect. When the direct attitude determination method is applied, the primary baseline may not be available (ambiguity is not fixed), leading to the inability of attitude determination. With the gradual popularization of low-cost receivers, making full use of spatial redundancy information of multiple antennas brings new ideas to the GNSS-based attitude determination method. In this paper, an attitude angle conversion algorithm, selecting an arbitrary baseline as the primary baseline, is derived. A multi-antenna attitude determination method based on primary baseline switching is proposed, which is performed on a self-designed embedded software and hardware platform. The proposed method can increase the valid epoch proportion and attitude information. In the land vehicle test, reference results output from a high-accuracy integrated navigation system were used to evaluate the accuracy and reliability. The results indicate that the proposed method is correct and feasible. The valid epoch proportion is increased by 16.2%, which can effectively improve the availability of attitude determination. The RMS of the heading, pitch and roll angles are 0.52°, 1.25° and 1.16°.

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 An Advanced Guidance and Control System for an Unmanned Vessel with Azimuthal Thrusters

2018 ◽  
Author(s):  
M Bibuli ◽  
Ga Bruzzone ◽  
Gi Bruzzone ◽  
M Caccia ◽  
G Camporeale ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Control Strategies ◽  
Vertical Axis ◽  
Control Loop ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Regulation Scheme ◽  
Control Scheme ◽  
Constrained Environments ◽  
And Control

The proposed paper presents the design and development of the combined guidance and control strategies for the autonomous navigation of an unmanned vessel characterized by azimuth-based thrust architecture. Autonomous Marine Vehicles (AMVs) are consolidates technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the capabilities of AMVs have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessel, that are taking place thanks to a number of technological research projects. The employment of new concept hulls and thrust configurations, as for instance Small Waterplane Area Twin Hull (SWATH) combined with Azimuthal propulsion (common propeller-based thruster with the capability of 360◦ rotation around the vertical axis), requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper proposes a dual-loop guidance and control scheme able to provide advanced navigation capabilities. In particular, the inner control loop, devoted to the actuation of the azimuthal thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterized by a modified PID regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov/virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities also in constrained environments. The paper will provide a deep design and analysis approach for the developed techniques, as well as simulation results of the combined guidance and control scheme, proving the reliability of the proposed approach in different operative conditions. Experimental results will be provided, depending on the availability of the actual autonomous vessel (currently under final development/test phases and related to the specific project activities). 

A new method for underwater dynamic gravimetry based on multisensor integrated navigation

Geophysics ◽  
2020 ◽  
Vol 85 (3) ◽  
pp. G69-G80
Author(s):  
Zhiming Xiong ◽  
Juliang Cao ◽  
Kaixun Liao ◽  
Meiping Wu ◽  
Shaokun Cai ◽  
...  
Keyword(s):  
Oil And Gas ◽  
Finite Impulse Response ◽  
Gravity Data ◽  
Satellite System ◽  
New Method ◽  
Integrated Navigation ◽  
Oil And Gas Exploration ◽  
Half Wavelength ◽  
Marine Gravity ◽  
Global Navigation Satellite

Underwater gravity information plays a major role in deepwater oil and gas exploration. To realize underwater dynamic gravimetry, we have developed a strapdown gravimeter mounted in a pressure capsule for adaption to the underwater environment and we adopted a two-stage towed underwater gravimetry scheme. An improved strapdown gravimeter and other underwater sensors were installed in a towed vessel to form an underwater dynamic gravimetry system. Because the global navigation satellite system cannot be used for underwater dynamic gravimetry, we developed a new method based on underwater multisensor integrated navigation, in which a federal Kalman filter was applied for error estimation. This new method allowed us to obtain the accurate attitude, velocity, and position necessary for gravity estimation. In addition, the gravity data can then be extracted from the noisy data through finite impulse response low-pass filtering. We acquired the underwater gravity data at a depth of 300 m to test the validity of the new method and evaluate the accuracy of the underwater gravity system. The results indicated a repeatability from 0.85 to 0.96 mGal at a half wavelength of approximately 0.2 km and also indicated good consistency with the marine gravity data.

Integrated Navigation, Guidance and Control System and Validation

2018 ◽  
Vol 114 (01) ◽  
pp. 109
Author(s):  
Arindam Barua ◽  
M. P. Premchand ◽  
R. Vishnu ◽  
Prabhat Kumar Dubey ◽  
Anon Jayachitra ◽  
...  
Keyword(s):  
Control System ◽  
Integrated Navigation ◽  
Guidance And Control ◽  
And Control

A Hybrid Intelligent Algorithm DGP-MLP for GNSS/INS Integration during GNSS Outages

2018 ◽  
Vol 72 (2) ◽  
pp. 375-388 ◽  
Author(s):  
Yuexin Zhang ◽  
Lihui Wang
Keyword(s):  
Satellite System ◽  
Micro Electro Mechanical System ◽  
Real Field ◽  
Prediction Errors ◽  
Integrated Navigation ◽  
Intelligent Algorithm ◽  
Position Information ◽  
Hybrid Intelligent Algorithm ◽  
Global Navigation Satellite ◽  
Adaptively Adjusting

The performance of Global Navigation Satellite System (GNSS) and Micro-Electro-Mechanical System (MEMS)-based Inertial Navigation System (INS) integrated navigation is reduced during GNSS outages. To bridge the period during GNSS outages, a novel hybrid intelligent algorithm incorporating a Discrete Grey Predictor (DGP) and a Multilayer Perceptron (MLP) neural network (DGP-MLP) is proposed. The DGP-MLP is used to provide a pseudo-GNSS position to correct the INS errors during GNSS outages; the DGP uses the GNSS position information of the latest few moments to predict the position of future moments; in the process of DGP-MLP, the MLP is used to modify the prediction errors of DGP, and the MLP is improved by adding momentum terms and adaptively adjusting the learning rate and momentum factor. To evaluate the effectiveness of the proposed methodology, four GNSS outages in different cases over a real field test data were employed. The experimental results demonstrate that the proposed methodology can significantly improve positioning accuracy during GNSS outages.

scholarly journals A Quad-Constellation GNSS Navigation Algorithm with Colored Noise Mitigation

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5563
Author(s):  
Xianqiang Cui ◽  
Tianhang Gao ◽  
Changsheng Cai
Keyword(s):  
Global Navigation Satellite System ◽  
Colored Noise ◽  
Satellite System ◽  
Navigation Satellite ◽  
Noise Mitigation ◽  
Positioning Accuracy ◽  
Navigation Algorithm ◽  
Satellite Visibility ◽  
Global Navigation ◽  
Global Navigation Satellite

The existence of colored noise in kinematic positioning will greatly degrade the accuracy of position solutions. This paper proposes a Kalman filter-based quad-constellation global navigation satellite system (GNSS) navigation algorithm with colored noise mitigation. In this algorithm, the observation colored noise and state colored noise models are established by utilizing their residuals in the past epochs, and then the colored noise is predicted using the models for mitigation in the current epoch in the integrated Global Positioning System (GPS)/GLObal NAvigation Satellite System (GLONASS)/BeiDou Navigation Satellite System (BDS)/Galileo navigation. Kinematic single point positioning (SPP) experiments under different satellite visibility conditions and road patterns are conducted to evaluate the effect of colored noise on the positioning accuracy for the quad-constellation combined navigation. Experiment results show that the colored noise model can fit the colored noise more effectively in the case of good satellite visibility. As a result, the positioning accuracy improvement is more significant after handling the colored noise. The three-dimensional positioning accuracy can be improved by 25.1%. Different satellite elevation cut-off angles of 10º, 20º and 30º are set to simulate different satellite visibility situations. Results indicate that the colored noise is decreased with the increment of the elevation cut-off angle. Consequently, the improvement of the SPP accuracy after handling the colored noise is gradually reduced from 27.3% to 16.6%. In the cases of straight and curved roads, the quad-constellation GNSS-SPP accuracy can be improved by 22.1% and 25.7% after taking the colored noise into account. The colored noise can be well-modeled and mitigated in both the straight and curved road conditions.

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