scholarly journals An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1721 ◽  
Author(s):  
Hao Xiong ◽  
Dongkai Dai ◽  
Yingwei Zhao ◽  
Xingshu Wang ◽  
Jiaxing Zheng ◽  
...  
Keyword(s):  
Navigation System ◽  
Attitude Estimation ◽  
Integrated Navigation ◽  
Estimation Errors ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Global Gravity ◽  
Tilt Error ◽  
Heading Estimation ◽  
Global Gravity Model

This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS’s error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases.

The Analysis of Positioning Performance and DOP Value Based on BDS/GPS Integrated Navigation Satellite System

2014 ◽  
Vol 654 ◽  
pp. 181-186 ◽  
Author(s):  
Wei Lin Yuan ◽  
Yan Ma ◽  
Hua Bo Sun
Keyword(s):  
Navigation System ◽  
Satellite Navigation ◽  
Satellite System ◽  
Asia Pacific ◽  
Positioning System ◽  
Navigation Satellite ◽  
Integrated Navigation ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Beidou Navigation Satellite System

The integrated positioning system increases the visible number of single satellite navigation system and improve the DOP value of single satellite navigation system. In accordance with the construction plan, BeiDou Navigation Satellite System (BDS) has started providing continuous passive positioning, navigation and timing service in the most parts of the Asia-Pacific In this paper, DOP value of GPS, BDS and the integrated navigation system are analyzed theoretically. The improvement of DOP value of GPS which resulted from present-running BDS navigation satellites is calculated by GPS/BDS observational data. The conclusions that GPS/BDS integrated navigation system will be able to improve the positioning accuracy and have useful references for the navigation and positioning application are also obtained.

Using Artificial Neural Networks to Compensate for the Error in an Integrated Navigation System

2020 ◽  
pp. 4-26
Author(s):  
N. Al Bitar ◽  
A.I. Gavrilov
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Networks ◽  
Navigation System ◽  
Satellite Navigation ◽  
Satellite System ◽  
Integrated Navigation ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Artificial Neural

The paper presents a new method for improving the accuracy of an integrated navigation system in terms of coordinate and velocity when there is no signal received from the global navigation satellite system. We used artificial neural networks to simulate the error occurring in an integrated navigation system in the absence of the satellite navigation system signal. We propose a method for selecting the inputs for the artificial neural networks based on the mutual information (MI) criterion and lag-space estimation. The artificial neural network employed is a non-linear autoregressive neural network with external inputs. We estimated the efficiency of using our method to solve the problem of compensating for the error in an integrated navigation system in the absence of the satellite navigation system signal

scholarly journals Attitude anti-interference federal filtering algorithm for MEMS-SINS/GPS/magnetometer/SV integrated navigation system

2020 ◽  
Vol 53 (1-2) ◽  
pp. 46-60 ◽  
Author(s):  
Hongmei Zhang ◽  
Huaqing Zhang ◽  
Guangyan Xu ◽  
Hao Liu ◽  
Xin Liu
Keyword(s):  
Magnetic Field ◽  
Navigation System ◽  
Physical Simulation ◽  
Angular Rate ◽  
Euler Angle ◽  
Field Observations ◽  
Integrated Navigation ◽  
Estimation Errors ◽  
Integrated Navigation System ◽  
Yaw Angle

The attitude measurement systems composed of magnetic, angular rate and gravity sensors in the navigation system of an unmanned aerial vehicle are vulnerable to disturbed magnetic field observations. In this paper, an anti-interference integrated navigation federal Kalman filter is designed with fusing the information of microelectromechanical-system-based strapdown inertial navigation system, gravity field, geomagnetic field and solar vector (direction of sun). The filter works in the mode of fusion reset or no reset according to environmental conditions or manual setting. In addition, the characteristic is discovered that disturbed magnetic field observations can interfere with the state estimation covariance matrixes of quaternions, which in turn affect the fusion update of estimated quaternions in no reset mode of the federal filter. In order to eliminate the effect of magnetic field observations on the attitude information of pitch and roll angles, a method of correction update for a yaw angle component in quaternions using the magnetometer is designed, and an Euler angle information fusion method is developed by constructing a pseudo-covariance matrix of Euler angels in fusion update of the filter. Thus, when there exist disturbed magnetic field observations and the filter is in no reset mode, the estimated pitch and roll angles of the main filter after fusion update are not affected, and the yaw angle estimation errors of the main filter decrease relative to the estimation errors of the sub-filter which is corrected by a magnetometer. The effectiveness of the algorithm is illustrated by a numerical simulation and a semi-physical simulation.

Investigation of the positioning accuracy for the integrated navigation system at the measurement signals interruption

2021 ◽  
Author(s):  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Forecast Accuracy ◽  
Satellite Navigation ◽  
Integrated Navigation ◽  
Positioning Accuracy ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Mobile Carrier

An integrated navigation system as part of an inertial navigation system corrected by signals from a satellite navigation system is researched. The integrated navigation system is installed on a mobile carrier is arranged. The organization of the experimental study, the design of the stand used to install the equipment on a mobile carrier, and the measurement processing technique are considered. When the signals of the satellite system disappear, signal prediction algorithms are used. The results of assessing the positioning accuracy of the integrated navigation system in case of discontinuities in the reception of navigation signals, assessing the forecast accuracy by using the presented algorithms and conclusions drawn from the analysis of the results are presented. Keywords inertial navigation system; satellite navigation system; predictive model; positioning accuracy; trends; self-organization; identification

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