Comparison of direct navigation mode and indirect navigation mode for integrated SINS/GPS

Li, Kailong; Hu, Baiqing; Chang, Lubin; Li, Yang

doi:10.1177/0142331214568236

Cited by 29 publications

(6 citation statements)

References 19 publications

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“…However, the use of only inertial navigation devices for a long time will cause positioning error drift, and it is necessary to cooperate with the cooperative measurement information to correct the SINS positioning error. The INS output frequency is typically 50-1000 Hz, and the satellite receiver and data link range sensor output frequency is typically 1 Hz [25]. In practical applications, when the leader-UAV receives satellite signal, it will update its absolute position information at a fixed frequency and broadcast it.…”

Section: Cooperative Navigation Program Designmentioning

confidence: 99%

Cooperative navigation of unmanned aerial vehicle formation with delayed measurement

Shi,

Xiong,

Chen

et al. 2024

Meas. Sci. Technol.

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This paper focused on the problem of positioning accuracy degradation caused by delayed measurement information in Unmanned Aerial Vehicle (UAV) formation cooperative navigation under complex environments such as cities and hills, and presented a non-synchronous compensation algorithm based on kinematic constraints and constructed a distributed cooperative navigation filter based on the analysis of the basic operating characteristics of inertial devices, satellite receivers, and ranging sensors. In the UAV formation, the leader-UAV is equipped with Real-Time Kinematic (RTK) differential equipment and airborne data link to construct the airborne reference beacons and provide cooperative navigation services for the wingmen-UAV. Firstly, the navigation filtering framework with inertial sensors as the core is established. Secondly, the non-synchronous compensation filter is constructed by using the kinematic constraint model, which compensates and corrects the non-synchronous air-based position of the leader-UAV, and reduces the effect of delayed measurement on the positioning error of the system. Then the fault diagnosis algorithm is utilized to complete the identification and rejection of abnormal range values in the case of Non-Line-of-Sight (NOLS). Finally, the navigation parameters are solved by the Kalman filter. Simulation results show that the non-synchronous compensated filtering proposed in this paper can improve the absolute positioning accuracy by 55%, which effectively improves the cooperative navigation performance and robustness under the presence of random time delay in the measurement information.

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Section: Cooperative Navigation Program Designmentioning

confidence: 99%

Cooperative navigation of unmanned aerial vehicle formation with delayed measurement

Shi,

Xiong,

Chen

et al. 2024

Meas. Sci. Technol.

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“…For the GNSS/UWB tight integration architecture under study, a total-state implementation is considered which estimates absolute properties of the system [39], [40]. Under the established framework of a discrete-time, EKF-based MAP tracking filter model [41]- [43], the state-vector at generic epoch k can be defined:…”

Section: Gnss/uwb State-space Modelmentioning

confidence: 99%

Enhanced EKF-Based Time Calibration for GNSS/UWB Tight Integration

et al. 2023

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Tight integration of low-cost Ultra-Wide Band (UWB) ranging sensors with mass-market Global Navigation Satellite System (GNSS) receivers is gaining attention as a high-accuracy positioning strategy for consumer applications dealing with challenging environments. However, due to independent clocks embedded in Commercial-Off-The-Shelf (COTS) chipsets, the time scales associated with sensor measurements are misaligned, leading to inconsistent data fusion. Centralized, recursive filtering architectures can compensate for this offset and achieve accurate state estimation. In line with this, a GNSS/UWB tight integration scheme based on an Extended Kalman Filter (EKF) is developed that performs online time calibration of the sensors' measurements by recursively modeling the GNSS/UWB time-offset as an additional unknown in the system state-space model. Furthermore, a double-update filtering model is proposed that embeds optimizations for the adaptive weighting of UWB measurements. Simulation results show that the double-update EKF algorithm can achieve a horizontal positioning accuracy gain of 41.60 % over a plain EKF integration with uncalibrated time-offset and of 15.43 % over the EKF with naive time-offset calibration. Moreover, a real-world experimental assessment demonstrates improved Root-Mean-Square Error (RMSE) performance of 57.58 % and 31.03 %, respectively.

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“…For the tight GNSS/UWB architecture under study, a direct filtering formulation is considered [36]. This approach is based on standard motion equations for the state-transition model, and the hybridisation filter combines raw GNSS observables and auxiliary UWB ranging data inside the observation model.…”

Section: Gnss/uwb State-space Modelmentioning

confidence: 99%

Enhanced EKF-based Time Calibration for GNSS/UWB Tight Integration

guo¹,

VOUCH²,

Zocca³

et al. 2022

Preprint

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Tight integration of Global Navigation Satellite System (GNSS) and Ultra-Wide Band (UWB) is growing popularity as a positioning strategy relying on mass-market devices for applications dealing with localisation and tracking of agents in challenging environments. However, due to independent clocks of Commercial off-the-shelf (COTS) devices, the offset between the time-scales with respect to which measurements are time tagged must be mitigated to achieve accurate state-estimation via centralised, recursive filtering architectures. In this paper, it is analysed a GNSS/UWB Tightly-Coupled (TC) scheme based on an Extended Kalman Filter (EKF), and the integration of asynchronous GNSS/UWB measurements is investigated to highlight how it can induce state-estimation errors under different receiver kinematics. GNSS/UWB time calibration is addressed as a filtering problem, for which an EKF-based framework is developed to recursively model the GNSS/UWB time-offset as a further unknown in the system state-space model. Moreover, a double-update filtering model is proposed with embedded optimisations for the adaptive tuning of UWB ranging statistics. Experimental results with simulated data show that the double-update EKF algorithm can achieve a horizontal positioning accuracy gain 41.60 % over a plain EKF integration with uncalibrated time-offset and of 15.43 % over the EKF with naive time-offset calibration.

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Comparison of direct navigation mode and indirect navigation mode for integrated SINS/GPS

Cited by 29 publications

References 19 publications

Cooperative navigation of unmanned aerial vehicle formation with delayed measurement

Cooperative navigation of unmanned aerial vehicle formation with delayed measurement

Enhanced EKF-Based Time Calibration for GNSS/UWB Tight Integration

Enhanced EKF-based Time Calibration for GNSS/UWB Tight Integration

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