scholarly journals Integrity monitoring of Global Navigation Satellite System/Inertial Navigation System integrated navigation system based on dynamic fading filter optimisation

2021 ◽  
Author(s):  
Zhipeng Wang ◽  
Xin Li ◽  
Yanbo Zhu ◽  
Qiang Li ◽  
Kun Fang
Keyword(s):  
Global Navigation Satellite System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite System ◽  
Navigation Satellite ◽  
Integrated Navigation ◽  
Integrity Monitoring ◽  
Integrated Navigation System ◽  
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.

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.

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