A Deep Fusion Method Based on INS/SAR Integrated Navigation and SAR Bias Estimation

Lu, Jiazhen; Ye, Lili; Han, Songlai

doi:10.1109/jsen.2020.2991870

Cited by 7 publications

(2 citation statements)

References 30 publications

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“…Integration of UWB and PDR algorithms has been proposed for outdoor scenarios in [3] and for indoor applications in [10], using a Kalman (extended or, respectively, unscented) filter for the sensor fusion operations. To estimate the state of the PDR and UWB fusion system is commonly use a Kalman filter exploiting the prior information on the data covariance matrix (see [11], [12]). In [13] a robust nonlinear Kalman is implemented to overcome both the challenges encountered by the UWB (nonline-of-sight conditions) and the error accumulation of PDR.…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Human Adaptive Tracking and Localization in Logistic Operations

Pascucci,

Dolfi,

Morosi

et al. 2023

2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)

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Modern logistic operations in warehouses consist of human and robots working in the same large indoor or outdoor areas. To design safe and efficient area and avoid collisions or accidents, localization and tracking of humans need to be deployed. The development of location based service, such as human activity monitoring, has been one of the drivers for the last decade interest in indoor or outdoor positioning and localization. In this work, a novel tracking system integrating inertial measurements and an ultra-wide band infrastructure is proposed to follow and localize humans in a warehouse scenario. The system has been designed to be self-configurable, able to learn online most of the needed parameters. Being the computational load low, it can be implemented on wearable devices. We tested the tracking system in a real outdoor scenario where the adaptive online algorithms have shown their effectiveness and improvements with respect to existing approaches.

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Section: Introduction and State Of The Artmentioning

confidence: 99%

Human Adaptive Tracking and Localization in Logistic Operations

Pascucci,

Dolfi,

Morosi

et al. 2023

2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)

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“…However, when the GPS interferes, it is difficult to ensure the high accuracy of carrier positioning only using SAR azimuth and elevation angles [15]. Lu et al designed an SINS/SAR tightly integrated method, which focused on the impact of the single-sided and doublesided distribution of control points on the INS/SAR combined accuracy [16].…”

Section: Introductionmentioning

confidence: 99%

Reliable SINS/SAR/GNSS Integrated Navigation System for the Supersonic Vehicle

et al. 2022

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In the GNSS-challenged/denied environments, compared with other aided navigation systems, synthetic aperture radar- (SAR-) aided navigation systems can achieve all-weather, all-day, and global positioning. This paper is aimed at designing a reliable navigation system for the supersonic vehicle in the whole flight phase. Considering the SAR is of great significance for the reliable and precise navigation of the supersonic vehicle, we introduce it to the terminal phase to cope with the interference of the global navigation satellite system (GNSS). At the same time, to accelerate the speed of SAR positioning, a positioning method based on the area feature and stack sequential decoding algorithm (SSDA) is designed. Then, applying the SAR positioning under the framework of the Kalman filter (KF), we propose a tightly coupled strapdown inertial navigation system (SINS)/SAR/GNSS integration algorithm, which can achieve positioning without a complicated fusion method between the front phase and terminal phase. The flight experiment results show that the proposed method can correct the average position error to 1.7 m within 1 cycle.

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A robust variance information fusion technique for real-time autonomous navigation systems

Alkhalaf

2021

Measurement

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A Deep Fusion Method Based on INS/SAR Integrated Navigation and SAR Bias Estimation

Cited by 7 publications

References 30 publications

Human Adaptive Tracking and Localization in Logistic Operations

Human Adaptive Tracking and Localization in Logistic Operations

Reliable SINS/SAR/GNSS Integrated Navigation System for the Supersonic Vehicle

A robust variance information fusion technique for real-time autonomous navigation systems

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