scholarly journals Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

Sensors ◽  
2016 ◽  
Vol 16 (5) ◽  
pp. 749 ◽  
Author(s):  
Muhammad Ilyas ◽  
Beomjin Hong ◽  
Kuk Cho ◽  
Seung-Ho Baeg ◽  
Sangdeok Park
Keyword(s):  
System Design ◽  
Navigation System ◽  
Nonlinear Filtering ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Planetary Rovers ◽  
Estimation Algorithms ◽  
Heading Estimation

Optical-Mechanical-Electrical Integrative Design of Fiber Optic Gyro/Beidou/Odometer Integrated Navigation System

2014 ◽  
Vol 644-650 ◽  
pp. 1346-1350
Author(s):  
Xiao Yue Zhang ◽  
Xiao Jing Yi ◽  
Chun Xi Zhang
Keyword(s):  
System Design ◽  
Navigation System ◽  
Fiber Optic ◽  
Design Method ◽  
System Structure ◽  
Integrated Navigation ◽  
Fiber Optic Gyro ◽  
Integrated Navigation System ◽  
Vehicle Test ◽  
Integrative Design

To improve the reliability, real-time performance and maintainability of navigation system, an optical-mechanical-electrical integrative design method of the fiber optic gyro inertial navigation /beidou/odometer integrated navigation system is proposed. Based on the basic working principle of the integrated navigation system, design of system structure and signal connection are implemented. In the integrated navigation system, all-fixed-structure, instrument and system integrative design and modularization design are used. At last, the integrated navigation system is developed, north seeking test and vehicle test are carried out to demonstrate the validity of the referred system design.

scholarly journals An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1721 ◽  
Author(s):  
Hao Xiong ◽  
Dongkai Dai ◽  
Yingwei Zhao ◽  
Xingshu Wang ◽  
Jiaxing Zheng ◽  
...  
Keyword(s):  
Navigation System ◽  
Attitude Estimation ◽  
Integrated Navigation ◽  
Estimation Errors ◽  
Satellite Navigation System ◽  
Integrated Navigation System ◽  
Global Gravity ◽  
Tilt Error ◽  
Heading Estimation ◽  
Global Gravity Model

This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS’s error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases.

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