Carrier-Phase Differential GPS/INS Integrated Navigation System

2013 ◽  
Vol 760-762 ◽  
pp. 457-461
Author(s):  
Lu Zhang ◽  
Gong Liu Yang
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Closed Loop ◽  
Measurement Data ◽  
Integrated Navigation ◽  
Differential Gps ◽  
Actual Measurement ◽  
Integrated Navigation System ◽  
Arm Processor

According to high accuracy demand in the measurement field, this paper designs a high precision inertial measurement system by using DSP and ARM processor to realize carrier-phase differential GPS/INS integrated navigation. This paper chooses Kalman filter to estimate the systematic error, uses closed loop method to correct, and carries out carrier-phase differential GPS/INS data fusion. Through manipulating actual measurement data, the integrated navigation results indicate that position accuracy reaches cm level; velocity accuracy reaches cm/s level and attitude achieves high precision. The experiment proves the feasibility and effectiveness of carrier-phase differential GPS/INS 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.

scholarly journals Airborne Integrated Navigation System Based on SINS/GPS/TAN/EOAN

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Junjun Tang ◽  
Peijuan Li
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Integrated Navigation ◽  
Long Distance ◽  
Integrated Navigation System ◽  
Long Time ◽  
Federated Kalman Filter ◽  
Entropy Weighted ◽  
Navigation Errors ◽  
Navigation Information

Considering the drawbacks that GPS signal is susceptible to obstacles and TAN becomes useless in some area when without any terrain data or with a featureless terrain field, to realize long-distance and high-precision navigation, a navigation system based on SINS/GPS/TAN/EOAN is presented. When GPS signal is available, GPS is used to correct errors of SINS; when GPS is unavailable, a terrain selection method based on the entropy weighted gray relational decision-making method is use to distinguish terrain into matchable areas and unmatchable areas; then, for the matchable areas, TAN is used to correct errors of SINS, for the unmatchable areas, EOAN is used to correct errors of SINS. The principles of SINS, GPS, TAN, and EOAN are analyzed, the mathematic models of SINS/GPS, SINS/TAN, and SINS/EOAN are constructed, and finally the federated Kalman filter is used to fuse navigation information. Simulation results show that the trajectory of SINS/GPS/TAN/EOAN is close to the ideal one in both matchable area or unmatchable area and whose navigation errors are obviously reduced, which is important for the realization of long-time and high-precision positioning.

An Adaptive & Fault Tolerant SINS/GPS Integrated Navigation Scheme Robustified against Slowly Growing Errors in GPS Updates

2013 ◽  
Vol 390 ◽  
pp. 500-505 ◽  
Author(s):  
Muhammad Ushaq ◽  
Fang Jian Cheng ◽  
Jamshaid Ali
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Measurement Noise ◽  
Integrated Navigation ◽  
Random Errors ◽  
Actual Measurement ◽  
Integrated Navigation System ◽  
System Noise ◽  
Measurement Noise Covariance ◽  
Noise Covariance

The Strapdown Inertial Navigation System (SINS) renders excellent attitude, position and velocity solutions on short term basis, but when used as stand-alone navigation system, its accuracy deteriorates with the passage of time. On the other hand GPS has long-standing stability with a consistent precisiongenerally having only bounded random errors in position and velocity. Integrated navigation system is used to augment the complementary features of SINS and GPS. In integrated navigation system external fixes for position and/or velocity and/or attitude are used to contain the growing errors of SINS. Kalman filter is generally used as integration tool for integrated navigation system. Kalman filter algorithm is based on the assumptions that the system model and the measurement models are linear and the system random errors and measurement random errors are Gaussian in nature expressed with fixed covariances. But in real navigation systems these assumptions are seldom fulfilled and hence Kalman filter renders unsatisfactory results. Adaptive Kalman filter provides the solution to the problem by adjusting the system noise covariance and measurement noise covariance in real time in the light of actual measurement errors or actual dynamics of thevehicle. In this paper an innovation and residual based adaption of measurement noise covariance and system noise covariance is presented. The presented scheme has been applied on an SINS/GPS Integrated Navigation Systemand it has been validated that the scheme provide significantly better results as compared to standard Kalman filter on occurrence slowly growing errors as well as excessive random errors in GPS measurements.

Research on GNSS/SINS Tightly Coupled Integrated Navigation System

2014 ◽  
Vol 1049-1050 ◽  
pp. 1832-1835 ◽  
Author(s):  
Yao Wei Chang ◽  
Shuai Chen
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Error Compensation ◽  
Coupled System ◽  
Compensation Method ◽  
Integrated Navigation ◽  
Selection Algorithm ◽  
Integrated Navigation System ◽  
Tightly Coupled ◽  
Multiple Step

When a missile runs under the complex situation such as high dynamic flying, receiver signal being blocked and so on, the GNSS receiver sometimes gets less than four satellites. For the loosely coupled system, the navigation accuracy will decrease over time. In this paper ,tightly coupled integrated navigation system which is based on pseudo range and pseudo range rate dynamically adjusts the dimension of the system according to the number of visible satellites, in order to achieve seamlessly navigation; a multiple step optimum precision factor satellite selection algorithm is proposed, an error compensation method which is based on the state transition is designed and implemented. Experiments show that when the number of visible satellites changes, tightly coupled system can seamlessly switch, when more than four satellites are received, the multiple step optimum precision factor selection algorithm can provide a combination of high precision satellites, by applying the error compensation method to calibrating the system, high-precision navigation can be achieved.

scholarly journals A Short-baseline Dual-antenna BDS/MIMU Integrated Navigation System

2019 ◽  
Vol 95 ◽  
pp. 03007 ◽  
Author(s):  
Tijing Cai ◽  
Qimeng Xu ◽  
Shuaipeng Gao ◽  
Daijin Zhou
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Satellite System ◽  
Double Difference ◽  
Integrated Navigation ◽  
Angle Error ◽  
Short Baseline ◽  
Integrated Navigation System ◽  
Orientation Method ◽  
Heading Angle

This paper puts forward a short-baseline dual-antenna BDS/MIMU integrated navigation, constructs the carrier phase double difference model of BDS (BeiDou Navigation Satellite System), and presents a 2-position initial orientation method on BDS. The Extended Kalman-filter has been applied for the integrated navigation system. The differences between MIMU and BDS position, velocity and carrier phase information are used as measurements. The experiment results indicate that the position error is less than 1m, the pitch angle error and roll angle error are less than 0.1°, and the heading angle error is about 1°. It shows that the new integrated navigation system has good performance and can be applied in various fields including USV and UAV.

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