An On-line Calibration Method of SINS/Odometer Integrated Navigation System

Author(s):  
Yiding Sun ◽  
Gongliu Yang ◽  
Qingzhong Cai ◽  
Suier Wang
2017 ◽  
Vol 24 (1) ◽  
pp. 127-142 ◽  
Author(s):  
Piotr Kaniewski ◽  
Rafał Gil ◽  
Stanisław Konatowski

Abstract The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.


2021 ◽  
Author(s):  
Zhiyi Xiang ◽  
Qi Wang ◽  
Rong Huang ◽  
Chongbin Xi ◽  
Xiaoming Nie ◽  
...  

2018 ◽  
Vol 8 (9) ◽  
pp. 1682 ◽  
Author(s):  
Chuang Zhang ◽  
Chen Guo ◽  
Daheng Zhang

The extended Kalman filter (EKF) as a primary integration scheme has been applied in the Global Positioning System (GPS) and inertial navigation system (INS) integrated system. Nevertheless, the inherent drawbacks of EKF contain not only instability caused by linearization, but also massive calculation of Jacobian matrix. To cope with this problem, the adaptive interacting multiple model (AIMM) filter method is proposed to enhance navigation performance. The soft-switching characteristic, which is provided by interacting multiple model algorithm, permits process noise to be converted between upper and lower limits, and the measurement covariance is regulated by Sage adaptive filtering on-line Moreover, since the pseudo-range and Doppler observations need to be updated, an updating policy for classified measurement is considered. Finally, the performance of the GPS/INS integration method on the basis of AIMM is evaluated by a real ship, and comparison results demonstrate that AIMM could achieve a more position accuracy.


Sensors ◽  
2012 ◽  
Vol 12 (12) ◽  
pp. 17372-17389 ◽  
Author(s):  
Kai-Wei Chiang ◽  
Thanh Duong ◽  
Jhen-Kai Liao ◽  
Ying-Chih Lai ◽  
Chin-Chia Chang ◽  
...  

2018 ◽  
Vol 45 (8) ◽  
pp. 0804004
Author(s):  
王琦 Wang Qi ◽  
高春峰 Gao Chunfeng ◽  
聂晓明 Nie Xiaoming ◽  
周健 Zhou Jian ◽  
魏国 Wei Guo ◽  
...  

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