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°.

Design of a low-cost attitude determination GPS/INS integrated navigation system

GPS Solutions ◽  
2005 ◽  
Vol 9 (4) ◽  
pp. 294-311 ◽  
Author(s):  
Dong-Hwan Hwang ◽  
Sang Heon Oh ◽  
Sang Jeong Lee ◽  
Chansik Park ◽  
Chris Rizos
Keyword(s):  
Navigation System ◽  
Attitude Determination ◽  
Low Cost ◽  
Integrated Navigation ◽  
Integrated Navigation System

scholarly journals An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7296
Author(s):  
Guanqing Li ◽  
Lasse Klingbeil ◽  
Florian Zimmermann ◽  
Shengxiang Huang ◽  
Heiner Kuhlmann
Keyword(s):  
Sound Speed ◽  
Attitude Determination ◽  
Satellite System ◽  
Sufficient Accuracy ◽  
Navigation Satellite ◽  
Accuracy Analysis ◽  
Absolute Position ◽  
Immersed Tunnel ◽  
Determination System ◽  
Global Navigation Satellite

Immersed tunnel elements need to be exactly controlled during their immersion process. Position and attitude of the element should be determined quickly and accurately to navigate the element from the holding area to the final location in the tunnel trench. In this paper, a newly-developed positioning and attitude determination system, integrating a 3-antenna Global Navigation Satellite System (GNSS) system, an inclinometer and a range-measurement system, is presented. The system is designed to provide the absolute position of both ends of the element with sufficient accuracy in real time. Special attention in the accuracy analysis is paid to the influence of GNSS multipath error and sound speed profile. Simulations are conducted to illustrate the performance of the system in different scenarios. If both elements are very close, the accuracies of the system are higher than 0.02 m in the directions perpendicular to and along the tunnel axis.

Integrated GNSS Attitude and Position Determination based on an Affine Constrained Model

2017 ◽  
Vol 71 (1) ◽  
pp. 134-150
Author(s):  
Haiying Liu ◽  
Lei Xu ◽  
Xiaolin Meng ◽  
Xibei Chen ◽  
Junyi Li
Keyword(s):  
Attitude Determination ◽  
Satellite System ◽  
Determination Method ◽  
Position Determination ◽  
Static Data ◽  
Constraint Information ◽  
Constrained Model ◽  
Global Navigation Satellite ◽  
Constraint Model ◽  
Gnss Data

Global Navigation Satellite System (GNSS) attitude determination and positioning play an important role in many navigation applications. However, the two GNSS-based problems are usually treated separately. This ignores the constraint information of the GNSS antenna array and the accuracy is limited. To improve the performance of navigation, an integrated attitude and position determination method based on an affine constraint model is presented. In the first part, the GNSS array model and affine constrained attitude determination method are compared with the unconstrained methods. Then the integrated attitude and position determination method is presented. The performance of the proposed method is tested with a series of static data and dynamic experimental GNSS data. The results show that the proposed method can improve the success rate of ambiguity resolution to further improve the accuracy of attitude determination and relative positioning compared to the unconstrained methods.

Multi-antenna GNSS and INS Integrated Position and Attitude Determination without Base Station for Land Vehicles

2018 ◽  
Vol 72 (2) ◽  
pp. 342-358 ◽  
Author(s):  
Xiaobo Cai ◽  
Houtse Hsu ◽  
Hua Chai ◽  
Leixiang Ding ◽  
Yong Wang
Keyword(s):  
Navigation System ◽  
Attitude Determination ◽  
Satellite System ◽  
Base Station ◽  
Integrated Navigation ◽  
Mobile Mapping ◽  
Integrated Navigation System ◽  
Yaw Angle ◽  
Mobile Mapping Systems ◽  
Mapping Systems

Precise Point Positioning/Inertial Navigation System (PPP/INS) integrated navigation based on PPP and low-accuracy INS is often used to provide position and attitude information for vehicle-mounted or airborne mobile mapping systems. With proper processing, the position accuracy of PPP/INS is comparable to that of Differential Global Navigation Satellite System (DGNSS)/INS, but the accuracy of the attitude, especially the yaw angle, cannot be guaranteed. However, the yaw angle is crucial for mobile mapping systems. To compensate for the insufficiency of PPP/INS, we have designed a Multi-Antenna GNSS (MAGNSS)/INS integrated navigation system. First, the attitude determination method using MAGNSS is presented in detail. Then, the MAGNSS attitude is combined with the PPP position and velocity as measurements for integration with the INS. Thus, PPP/INS integrated navigation was improved to MAGNSS/INS integrated navigation. Finally, a three-hour car-borne test was conducted to evaluate the performance of the proposed method. The results indicate that the attitude determined from MAGNSS is accurate and stable over time. Compared to PPP/INS, MAGNSS/INS integrated navigation can improve the attitude accuracy significantly because of the inclusion of MAGNSS attitude.

scholarly journals Polar Region Integrated Navigation Method Based on Covariance Transformation

2021 ◽  
Vol 11 (20) ◽  
pp. 9572
Author(s):  
Yongjian Zhang ◽  
Lin Wang ◽  
Guo Wei ◽  
Chunfeng Gao
Keyword(s):  
Navigation System ◽  
Physical Simulation ◽  
Inertial Navigation ◽  
Satellite System ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Global Navigation Satellite ◽  
Relationship Of ◽  
The Relationship ◽  
Navigation Method

Aircraft flying the trans-arctic routes usually apply inertial navigation mechanization in two different navigation frames, e.g., the local geographic frame and the grid frame. However, this change of navigation frame will cause filter overshoot and error discontinuity. To solve this problem, taking the inertial navigation system/global navigation satellite system (INS/GNSS) integrated navigation system as an example, an integrated navigation method based on covariance transformation is proposed. The relationship of the system error state between different navigation frames is deduced as a means to accurately convert the Kalman filter’s covariance matrix. The experiment and semi-physical simulation results show that the presented covariance transformation algorithm can effectively solve the filter overshoot and error discontinuity caused by the change of navigation frame. Compared with non-covariance transformation, the system state error is thereby reduced significantly.

scholarly journals Radar and Visual Odometry Integrated System Aided Navigation for UAVS in GNSS Denied Environment

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2776 ◽  
Author(s):  
Mostafa Mostafa ◽  
Shady Zahran ◽  
Adel Moussa ◽  
Naser El-Sheimy ◽  
Abu Sesay
Keyword(s):  
Navigation System ◽  
Visual Odometry ◽  
Satellite System ◽  
Integrated System ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Positioning Accuracy ◽  
Integrated Navigation System ◽  
Gnss Measurements ◽  
Global Navigation Satellite

Drones are becoming increasingly significant for vast applications, such as firefighting, and rescue. While flying in challenging environments, reliable Global Navigation Satellite System (GNSS) measurements cannot be guaranteed all the time, and the Inertial Navigation System (INS) navigation solution will deteriorate dramatically. Although different aiding sensors, such as cameras, are proposed to reduce the effect of these drift errors, the positioning accuracy by using these techniques is still affected by some challenges, such as the lack of the observed features, inconsistent matches, illumination, and environmental conditions. This paper presents an integrated navigation system for Unmanned Aerial Vehicles (UAVs) in GNSS denied environments based on a Radar Odometry (RO) and an enhanced Visual Odometry (VO) to handle such challenges since the radar is immune against these issues. The estimated forward velocities of a vehicle from both the RO and the enhanced VO are fused with the Inertial Measurement Unit (IMU), barometer, and magnetometer measurements via an Extended Kalman Filter (EKF) to enhance the navigation accuracy during GNSS signal outages. The RO and VO are integrated into one integrated system to help overcome their limitations, since the RO measurements are affected while flying over non-flat terrain. Therefore, the integration of the VO is important in such scenarios. The experimental results demonstrate the proposed system’s ability to significantly enhance the 3D positioning accuracy during the GNSS signal outage.

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.

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