scholarly journals Design of a dynamic positioning for unmanned surface vehicles using GPS/INS (VIAM-NAVI-M)

2021 ◽  
Vol 3 (SI2) ◽  
pp. first
Author(s):  
HUY NGOC TRAN ◽  
Nguyen Tu Cuong
Keyword(s):  
Navigation System ◽  
System Development ◽  
Low Cost ◽  
Wind Waves ◽  
Propulsion Systems ◽  
Unmanned Surface Vehicles ◽  
Specific Direction ◽  
Global Positioning ◽  
Waves And Currents ◽  
Changing Noise

Today, Unmanned Surface Vehicles (USV) maintain the direction and fixed position necessary for many different applications such as security patrol, transmit information, water sampling, environmental monitoring... With USV model with two hull, control and propulsion systems, both of which are specifically designed to allow the vehicel to perform this task flexibly, omnidirectional and maneuverable. With environmental effects, such as wind, waves and currents ..., it has a large impact on ships, leading to large errors or fluctuations. Therefore, a controller designed to produce better performance for USV under changing noise conditions is essential. To improve the ability of navigation for vehicles, Viam-Navi-M GPS/INS Module: integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is developed with low-cost, highly accurate and stable navigation system. At the same time, the article will present the process of system development and software architecture design. Finally, with the four engine and controller propulsion system built and tested, it shows that the boat is well controlled, its ability to maintain specific direction and position for long periods of time. The postion error is maintained less than 1 meter most of the experimental time and the heading error is between -5 and +5 degrees.

scholarly journals Navigation System Heading and Position Accuracy Improvement through GPS and INS Data Fusion

2016 ◽  
Vol 2016 ◽  
pp. 1-6 ◽  
Author(s):  
Ji Hyoung Ryu ◽  
Ganduulga Gankhuyag ◽  
Kil To Chong
Keyword(s):  
Kalman Filter ◽  
Global Positioning System ◽  
Navigation System ◽  
Unscented Kalman Filter ◽  
Low Cost ◽  
Navigation Systems ◽  
Position Information ◽  
Global Positioning ◽  
Heading Angle ◽  
Electronic Compass

Commercial navigation systems currently in use have reduced position and heading error but are usually quite expensive. It is proposed that extended Kalman filter (EKF) and Unscented Kalman Filter (UKF) be used in the integration of a global positioning system (GPS) with an inertial navigation system (INS). GPS and INS individually exhibit large errors but they do complement each other by maximizing the advantage of each in calculating the heading angle and position through EKF and UKF. The proposed method was tested using low cost GPS, a cheap electronic compass (EC), and an inertial management unit (IMU) which provided accurate heading and position information, verifying the efficacy of the proposed algorithm.

Algorithms of Measurement System for a Micro UAV

2013 ◽  
Vol 198 ◽  
pp. 165-170 ◽  
Author(s):  
Grzegorz Kopecki ◽  
Andrzej Tomczyk ◽  
Paweł Rzucidło
Keyword(s):  
Measurement System ◽  
Navigation System ◽  
Measurement Errors ◽  
System Development ◽  
Low Cost ◽  
Measurement Information ◽  
Gps Data ◽  
Differential Gps ◽  
Measurement Units ◽  
And Control

The article presents a measurement system for a micro UAV designed at the Department of Avionics and Control Systems of Rzeszów University of Technology. Since the project is based on earlier projects, e.g.[[[[1[[[1, the introduction begins with their short presentation [they are mentioned in the introduction firs. Then, the current project is discussed. The major objective of the project is to create a miniature autopilot cooperating with navigation units, data transmission units and measurement units. The system is based on Polish technological solutions. The autopilot is designed as a single unit, however the system is open and it allows you to use different elements. The system development is also possible. In-flight testing will be realized with the use of two unmanned flying platforms equipped with an electrical engine and a piston engine. The total mass of the platforms is 5 kg and 25 kg respectively. The article presents the structure of the control and navigation system and then, the structure of the measurement system. The measurement units consist of a GPS receiver, an attitude and heading reference system (AHRS) and an air data computer (ADC). Similar configuration is used in other micro UAV solutions, such as Micropilot or Kestrel. Then, algorithms of the measurement system are described. Navigation is based on GPS data with a DGPS (Differential GPS) advanced module. If the measurement information is complete, GPS data are used to correct measurements from other units. The system estimates wind disturbances and calculates accelerometers errors. In the case of missing GPS signals implementation of low-cost sensors may lead to significant measurement errors, and hence navigation only by means of the INS is impossible. In such a case, navigation is realized with the use of an inertial navigation system (INS), the magnetic heading measurement and ADC. AHRS unit algorithms use quaternion algebra for attitude calculation. For correction, complementary filtering is implemented [, [. The correction signal for the attitude (pitch and roll angles) is calculated with the use of acceleration measurements. Measurements of accelerations and yaw rates are used for the correction switching mechanism, since in dynamic states signals calculated from accelerations cannot be used for correction. Heading is corrected by means of magnetic heading measurement. ADC algorithms are based on typical aerodynamic dependences.

Low Cost Point to Point Navigation System

2021 ◽  
Author(s):  
Giuseppe Spampinato ◽  
Arcangelo Bruna ◽  
Davide Giacalone ◽  
Giuseppe Messina
Keyword(s):  
Navigation System ◽  
Low Cost ◽  
Point To Point

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.

Low-cost and high-performance visual guidance and navigation system for space debris removal

2021 ◽  
pp. 1-9
Author(s):  
Shinichi Kimura ◽  
Eijiro Atarashi ◽  
Taro Kashiwayanagi ◽  
Kohei Fujimoto ◽  
Ryan Proffitt
Keyword(s):  
Navigation System ◽  
High Performance ◽  
Space Debris ◽  
Low Cost ◽  
Visual Guidance ◽  
Debris Removal
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