scholarly journals Kalman–Hatch dual‐filter integrating global navigation satellite system/inertial navigation system/on‐board diagnostics/altimeter for precise positioning in urban canyons

2021 ◽  
Author(s):  
Lawoo Kim ◽  
Yudam Lee ◽  
Hyung Keun Lee
Keyword(s):  
Global Navigation Satellite System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite System ◽  
Navigation Satellite ◽  
Precise Positioning ◽  
Global Navigation ◽  
Global Navigation Satellite

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

2020 ◽  
Vol 234 (8) ◽  
pp. 2135-2153
Author(s):  
Zhuang Fu ◽  
Xin Feng ◽  
Xiaoming Duan ◽  
Zeyu Fu
Keyword(s):  
Global Navigation Satellite System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Satellite System ◽  
Automated Guided Vehicle ◽  
Navigation Satellite ◽  
Integrated Navigation ◽  
Heavy Duty ◽  
Global Navigation ◽  
Global Navigation Satellite

The current navigation methods for port heavy-duty automated guided vehicle mainly include the antenna radar-transponder navigation and the global navigation satellite system. However, the former has a huge cost and the latter will generate multi-path error easily. To avoid these problems, an improved integrated navigation method based on single-axis rotating inertial navigation system, global navigation satellite system and kinematics is proposed. First, the rotating inertial navigation system/ global navigation satellite system and rotating inertial navigation system/Kinematics integrated navigation methods generate corresponding estimates and filtering error covariances through their respective extended Kalman filter filters, and then the two sets of results are fused by the optimal weighted voting fusion method. The proposed method is applied to a heavy-duty automated guided vehicle for engineering verification. Without multi-path error, the navigation accuracy is 1.8–2.98 times higher than that of the traditional global navigation satellite system navigation. In the case of multi-path error, the improved method still has high fault tolerance and high navigation accuracy. The accuracy of this method satisfies the requirements of port heavy-duty automated guided vehicle, which can greatly reduce the number of transponders and has high practical value.

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