scholarly journals SINS/Landmark Integrated Navigation Based on Landmark Attitude Determination

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2917
Author(s):  
Shuqing Xu ◽  
Haiyin Zhou ◽  
Jiongqi Wang ◽  
Zhangming He ◽  
Dayi Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Feature Matching ◽  
Integrated Navigation ◽  
Basic Scheme ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Landmark Navigation ◽  
Navigation Method

Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.

scholarly journals Based on Grid Reference Frame for SINS/CNS Integrated Navigation System in the Polar Regions

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-8 ◽  
Author(s):  
Song Lijun ◽  
Zhao Wanliang ◽  
Cheng Yuxiang ◽  
Chen Xiaozhen
Keyword(s):  
Reference Frame ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Polar Regions ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Low Latitudes ◽  
And Performance

As the inertial navigation system cannot meet the precision requirements of global navigation in the special geographical environment of the Polar Regions, this paper presents Strapdown Inertial Navigation System (SINS)/Celestial Navigation System (CNS) integrated navigation system of airborne based on Grid Reference Frame (GRF) and the simulation is carried out. The result of simulation shows that the SINS/CNS integrated navigation system is superior to the single subsystem in precision and performance, which not only effectively inhibits the error caused by gyro drift but also corrects the navigation parameters of system without delay. Comparing the simulation in the middle and low latitudes and in the Polar Regions, the precision of SINS/CNS integrated navigation system is the same in the middle and low latitudes and in the Polar Regions.

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 A SINS/BDS Integrated Navigation Method Based on Classified Weighted Adaptive Filtering

2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Xuchao Kang ◽  
Guangjun He ◽  
Xingge Li
Keyword(s):  
Adaptive Filtering ◽  
Navigation System ◽  
Fault Tolerant ◽  
Hypothesis Test ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Covariance Matching ◽  
Uncertain Model ◽  
Navigation Accuracy ◽  
Navigation Method

Aiming at the problem that the accuracy and stability of SINS/BDS integrated navigation system decrease due to uncertain model and observation anomalies, a SINS/BDS integrated navigation method based on classified weighted adaptive filtering is proposed. Firstly, the innovation covariance matching technology is used to detect whether there is any abnormality in the system as a whole. Then the types of anomalies are distinguished by hypothesis test. Different types of anomalies have different effects on state estimation. Based on the dynamic changes of innovation, different adaptive weighting methods are adopted to correct navigation information. The simulation results show that this method can effectively improve the fault-tolerant performance of integrated navigation system in complex environment with unknown anomaly types. When both model anomalies and observation anomalies exist, the speed and position accuracy are increased by 42% and 24% compared with the standard KF, 38% and 22% compared with the innovation orthogonal adaptive filtering, which has higher navigation accuracy.

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 Improved Underwater Integrated Navigation System using Unscented Filtering Approach

2015 ◽  
Vol 69 (3) ◽  
pp. 561-581 ◽  
Author(s):  
Mohammad Shabani ◽  
Asghar Gholami
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Measurement Models ◽  
Error State ◽  
Filtering Approach

In underwater navigation, the conventional Error State Kalman Filter (ESKF) is used for combining navigation data where due to first order linearization of the nonlinear equations of the dynamics and measurements, considerable error is induced in estimated error state and covariance matrices. This paper presents an underwater integrated inertial navigation system using the unscented filter as an improved nonlinear version of the Kalman filter family. The designed system consists of a strap-down inertial navigation system accompanying Doppler velocity log and depth meter. In the proposed approach, to use the nonlinear capabilities of the unscented filtering approach the integrated navigation system is implemented in a direct approach where the nonlinear total state dynamic and and measurement models are utilised without any linearization. To our knowledge, no results have been reported in the literature on the experimental evaluation of the unscented-based integrated navigation system for underwater vehicles. The performance of the designed system is studied using real measurements. The results of the lake test show that the proposed system estimates the vehicle's position more accurately compared with the conventional ESKF structure.

scholarly journals Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3083
Author(s):  
Donghui Lyu ◽  
Jiongqi Wang ◽  
Zhangming He ◽  
Yuyun Chen ◽  
Bowen Hou
Keyword(s):  
Navigation System ◽  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Inertial Navigation ◽  
Inertial System ◽  
New Information ◽  
System Output ◽  
Navigation Method ◽  
Navigation Scheme

As a new information provider of autonomous navigation, the on-orbit landmark observation offers a new means to improve the accuracy of autonomous positioning and attitude determination. A novel autonomous navigation method based on the landmark observation and the inertial system is designed to achieve the high-accuracy estimation of the missile platform state. In the proposed method, the navigation scheme is constructed first. The implicit observation equation about the deviation of the inertial system output is derived and the Kalman filter is applied to estimate the missile platform state. Moreover, the physical observability of the landmark and the mathematical observability of the navigation system are analyzed. Finally, advantages of the proposed autonomous navigation method are demonstrated through simulations compared with the traditional celestial-inertial navigation system and the deeply integrated celestial-inertial navigation system.

The Design of Vehicle Integrated Navigation System Based on FPGA

2012 ◽  
Vol 442 ◽  
pp. 441-445
Author(s):  
Yong Sen Wei
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Gps Data ◽  
Integrated Navigation ◽  
Good Balance ◽  
Integrated Navigation System ◽  
Navigation Data ◽  
Navigation Algorithms ◽  
The Cost

A GPS/inertial navigation system design scheme is introduced. Combination of DSP and FPGA is used on the navigation board, and micro inertial navigation measuring element --ADIS16405 is used to sample required navigation data. DSP mainly implements navigation calculating based on navigation data, and realizes different navigation algorithms; FPGA in the system plays centeral control role, and not only samples IMU and GPS data, but also synchronize IMU and GPS in the real time, and preprocess and packet the navigation data. This paper also introduces the design of the software on FPGA. Practice proves that the scheme is feasible, and achieves the good balance between the cost, reliability and efficiency.

Integrated navigation method based on inertial navigation system and Lidar

2016 ◽  
Vol 55 (4) ◽  
pp. 044102 ◽  
Author(s):  
Xiaoyue Zhang ◽  
Haitao Shi ◽  
Jianye Pan ◽  
Chunxi Zhang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Navigation Method

AN INTEGRATED AIRCRAFT NAVIGATION SYSTEM WITH OPTICAL HORIZON SENSOR

Aviation ◽  
2012 ◽  
Vol 16 (4) ◽  
pp. 109-114 ◽  
Author(s):  
Mohamed Rahmouni ◽  
Julia Malysheva
Keyword(s):  
Navigation System ◽  
Attitude Determination ◽  
Recognition Algorithm ◽  
Integrated Navigation ◽  
Integration Algorithm ◽  
Integrated Navigation System ◽  
Aircraft Navigation ◽  
Horizon Line ◽  
Aircraft Motion ◽  
And Performance

An integration algorithm for a strapdown inertial navigation system with optical horizon sensor based on Kalman filtering is presented. It allows the accuracy of the estimation of aircraft motion parameters to be improved. A self-contained horizon recognition algorithm for the video sequence that enables real-time aircraft attitude determination relative to the horizon line is developed. A scaled-down simulation and performance analysis of the operation of the integrated navigation system is carried out.

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