scholarly journals Research and Design of MEMS SINS/GPS Integrated Navigation System Based on Adaptive Filter

2013 ◽  
Author(s):  
Gaowei Zhang ◽  
Xiaoyu Zhang ◽  
Chunlei Song ◽  
Tingting Wang
Keyword(s):  
Adaptive Filter ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Research And Design

Research and Design of MEMS SINS/GPS Integrated Navigation System Based on Adaptive Filter

2013 ◽  
Vol 341-342 ◽  
pp. 1048-1052
Author(s):  
Gao Wei Zhang ◽  
Xiao Yu Zhang ◽  
Chun Lei Song ◽  
Ting Ting Wang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Adaptive Estimation ◽  
Low Cost ◽  
Integrated Navigation ◽  
Variance Matrix ◽  
Integrated Navigation System ◽  
Measurement Noise Covariance ◽  
Noise Covariance ◽  
Research And Design

A MIMU/GPS integrated navigation system principle prototype is designed, and the structure of the system is introduced by different module. To handle the influence of Kalman filter parameters on system filtering performance (Including the system noise variance matrix Q and measurement noise covariance matrix R), adaptive estimation Kalman filter is designed. The test results show that satisfactory performance can be obtained using adaptive estimation techniques for the low-cost MIMU/GPS integrated navigation.

scholarly journals An Enhanced GPS/INS Integrated Navigation System with GPS Observation Expansion

2016 ◽  
Vol 69 (5) ◽  
pp. 1041-1060 ◽  
Author(s):  
Zengke Li ◽  
Jian Wang ◽  
Jingxiang Gao
Keyword(s):  
Global Positioning System ◽  
Adaptive Filter ◽  
Navigation System ◽  
Sampling Rate ◽  
Slow Motion ◽  
Integrated Navigation ◽  
State Variables ◽  
Integrated Navigation System ◽  
Global Positioning ◽  
Gps Observation

In Global Positioning System/Inertial Navigation System (GPS/INS) integrated navigation, the low sampling rate of GPS receivers reduces the observability of state variables. GPS observation expansion is proposed to enhance the GPS/INS integrated navigation system. During the process of observation expansion, the state variables are updated by the same GPS information repeatedly. According to uncertainty theory, the probability density function of GPS observation information is analysed to demonstrate the feasibility of GPS observation expansion. The formula and calculation method of an adaptive filter algorithm are presented to control the uncertainty of GPS observation expansion. Furthermore, an experiment is performed to validate the new algorithm. The results indicate that compared with GPS/INS integrated navigation without observation expansion, the enhanced GPS/INS integrated navigation system can improve the position, velocity and attitude accuracy significantly, especially while a land vehicle is in slow motion. At the same time, the adaptive filter factor is introduced into the new algorithm, which can control the uncertainty caused by the expanded GPS observation.

scholarly journals MEMS Based SINS/OD Filter for Land Vehicles’ Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Huisheng Liu ◽  
Zengcai Wang ◽  
Susu Fang ◽  
Chao Li
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Microelectromechanical Systems ◽  
Low Cost ◽  
Detection Algorithm ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Land Vehicles ◽  
Mems Imu

A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.

Heading Measurement Based on Ultrasonic and Magnetic Compass

2013 ◽  
Vol 341-342 ◽  
pp. 896-900
Author(s):  
Bao Jiang Sun ◽  
Yue Xu
Keyword(s):  
Navigation System ◽  
Simulation Experiment ◽  
Measurement Data ◽  
Magnetic Compass ◽  
Positioning System ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
Advantages And Disadvantages ◽  
Measurement Principle

Describes briefly ultrasonic positioning system (UPS) and digital magnetic compass (DMC) heading measurement principle,analyzed the advantages and disadvantages of each option. To improve the accuracy of the heading measurement, As the theoretical basis of adaptive Kalman filter, designed a kind of ups and dmc integrated navigation system. Based on both real measurement data, made a simulation experiment and confirmed the feasibility of the navigation system.

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