An Improved MCMC-Based Particle Filter for GPS-Aided SINS In-Motion Initial Alignment

Lin, Yusen; Liu, Miao; Zhou, Zhiqiang

doi:10.1109/tim.2020.2986610

Cited by 19 publications

(4 citation statements)

References 22 publications

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“…In the field of vehicle positioning and navigation, many information fusion algorithms, such as the the unscented Kalman filter [25], the federated Kalman filter [26] and the particle filter [27], have been proposed. Among these algorithms, the EKF has the lowest computational complexity and can quickly obtain the optimal estimate of the system when the nonlinearity is not strong.…”

Section: Global Fusion Of Uwb/insmentioning

confidence: 99%

An accurate and reliable positioning methodology for land vehicles in tunnels based on UWB/INS integration

Kong

Song

et al. 2022

Meas. Sci. Technol.

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At present, Global Navigation Satellite System (GNSS) is the most widely used technology in the field of vehicle navigation and positioning. However, due to satellite signal blocking, it can be challenging to obtain precise and reliable vehicle position in completely GNSS-denied environments. In this paper, a positioning strategy utilizing ultra-wide band (UWB) and low cost MEMS Inertial Navigation System (INS) is proposed, aimed at tracking vehicles in typical GNSS-denied scenarios. UWB tech owns the potential of high-precision ranging through its strong penetrating ability. However, Non-Line-of-Sight (NLOS) propagation still has a high occurrence in typical traffic scenes due to the direct path between a radio transmitter and a radio receiver is obstructed. Therefore, a two-step NLOS error mitigation method is proposed to deal with the abnormal measurements of UWB in tunnels. First, a state-of-the-art probabilistic factor graph model has been proposed to estimate the vehicle’s position information based on UWB range measurements instead of excluding the NLOS receptions. Then, a Residual weighting algorithm (Rwgh) is employed during UWB/INS loosely-coupled integration to further mitigate the NLOS error. Finally, the performance of proposed methodology was evaluated through experiments. Experiments conducted in typical NLOS environment of Nanjing showed that the proposed method could achieve higher positioning accuracy when compared with the conventional UWB/INS integration.

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Section: Global Fusion Of Uwb/insmentioning

confidence: 99%

An accurate and reliable positioning methodology for land vehicles in tunnels based on UWB/INS integration

Kong

Song

et al. 2022

Meas. Sci. Technol.

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show abstract

“…Among many INSs, SINS/GPSs have attracted the attention of many researchers because of their wide application range and high efficiency [7]. In SINS/GPS research, initial alignment has been one of the significant focal areas [8].…”

Section: Introductionmentioning

confidence: 99%

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

Huang

Wei

2022

Applied Sciences

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In this paper, an improved in-motion coarse alignment method is proposed for a strapdown inertial navigation system (SINS) using position loci obtained from the Global Positioning System (GPS). The difference from the popular coarse alignment methods is that the proposed algorithm uses GPS position loci information to form the vector observation, and does not need velocity information, which expands the application range of in-motion coarse alignment. In addition, this paper utilizes the Optimal-REQUEST algorithm to reduce the influence of random errors contained in the vector observation. The Optimal-REQUEST algorithm is an adaptive iterative updating algorithm, which can adaptively adjust the gain of the filter according to the loss function. Simulation results confirmed that the proposed algorithm can suppress the impact of random errors effectively. The pitch, roll and yaw angles calculated by the proposed algorithm were improved by 51.95%, 53.80% and 63.03% compared with the comparison algorithms.

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“…Unlike the stationary base alignment, external equipment is usually required to provide auxiliary information (such as the position or the velocity) to the in-motion alignment. The most popular aiding information for SINS is the global positioning system (GPS) [11][12][13][14][15][16][17]. However, its availability and reliability are seriously affected by jamming, blocking and spoofing of the GPS signals.…”

Section: Introductionmentioning

confidence: 99%

In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

Sun

Yue

2022

Remote Sensing

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To realize the in-motion alignment of the strapdown inertial navigation system (SINS) under the geographic latitude uncertainty, we propose a latitude estimation and in-motion alignment method based on the integral dynamic window and polynomial fitting (IDW-PF) and improved Kalman filter (IKF). First, the integral dynamic window (IDW) is designed to smooth out the high-frequency line motion interference and accelerometer noise. Second, the specific force integral is performed for a cubic polynomial fitting (PF) with time as an independent variable to further suppress the line motion interference. Simultaneously, the latitude is estimated according to the geometric relationship between the angle of the gravitational acceleration vectors at different moments and the latitude. Finally, the IKF based on the multi-fading factor is designed for the in-motion alignment of SINS. A simulation experiment is conducted to verify the proposed latitude estimation and in-motion alignment method. The results indicate that the latitude can be estimated well by the method based on the IDW-PF; the mean and standard deviation of the estimated latitude can achieve −0.016° and 0.013° within 300 s. The trapezoidal maneuvering path is optimal when IKF is used, the pitch error is 0.0002°, the roll error is 0.0009° and the heading error is −0.0047° after the alignment ends at 900 s.

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An Improved MCMC-Based Particle Filter for GPS-Aided SINS In-Motion Initial Alignment

Cited by 19 publications

References 22 publications

An accurate and reliable positioning methodology for land vehicles in tunnels based on UWB/INS integration

An accurate and reliable positioning methodology for land vehicles in tunnels based on UWB/INS integration

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

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