Direct Navigation Mode and Indirect Navigation Mode for Integrated SINS/GPS

Li, Kai Long; Hu, Bai Qing; Gao, Jing Dong; Li, Yang

doi:10.4028/www.scientific.net/amm.568-570.958

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…extended Kalman filter [12,17,18], unscented Kalman filter [14]. However, this method is computational expensive since it introduces nonlinearities in the integrated navigation system [8,19,20]. In the indirect filter mode, the filter model is implemented to estimate the INS errors, not the navigation parameters directly.…”

Section: Introductionmentioning

confidence: 99%

A novel INS/ADS integrated navigation method based on INS error model-aided unbiased converted measurement

Li¹,

Chen²,

Zhang³

et al. 2022

Meas. Sci. Technol.

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In the inertial navigation system (INS)/ air data system (ADS) integrated navigation system, the measurements of INS and ADS need to be converted to a unified coordinate for fusion. However, the sensor noises cause serious conversion bias in the direct measurement conversion method. In this paper, a novel INS/ADS integrated navigation method based on INS error model-aided unbiased converted measurement (IEM-UCM) is proposed. First, the IEM-UCM model of ADS data from spherical frame to navigation frame is developed, which exploits the INS error model to calculate the compensation factors. Subsequently, the noise covariance of the converted measurement is derived. Finally, a standard Kalman filter (KF) is implemented for INS/ADS integrated navigation. The simulation results validate the effectiveness of the proposed method in terms of the unbiasedness and consistency of the converted measurement. The root mean square error (RMSE) values indicate that the proposed method outperforms the existing methods in navigation accuracy.

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Section: Introductionmentioning

confidence: 99%

A novel INS/ADS integrated navigation method based on INS error model-aided unbiased converted measurement

Li¹,

Chen²,

Zhang³

et al. 2022

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…A reasonable model is one of the keys for the integrated navigation system to accomplish navigation task. The integrated navigation models mainly include two categories: direct navigation model and indirect navigation model [ 5 ]. The direct navigation model is nonlinear, which uses the navigation parameters (attitude, velocity, position, etc.)…”

Section: Introductionmentioning

confidence: 99%

Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle

Qian

Qin

et al. 2022

Sensors

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In response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inertial navigation system/global navigation satellite system (SINS/GNSS) and strapdown inertial navigation system/doppler velocity log (SINS/DVL), are used as subjects, and the piecewise constant system (PWCS) matrix, based on the Lie group error model, is established. From three aspects of variance estimation, the observability and performance of the system with large misalignment angles for low, medium, and high accuracy levels, traditional error model, Lie group left error model, and right error model are compared. The necessity of research on Lie group error model is analyzed quantitatively and qualitatively. The experimental results show that Lie group error model has better stability of variance estimation, estimation accuracy, and observability than traditional error model, as well as higher practical value.

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Underwater mobile gravity measurement data processing using continuous-discrete Kalman filter

Zhang

Liu

2021

AIP Advances

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To solve the data fusion problem in underwater mobile gravity measurement, a direct estimation method based on pose information is proposed. First, the state model is established using the continuous evolution equation of the state. Then, to obtain the space model of the state for data fusion of the measured underwater mobile gravity, the measurement model is constructed according to the external measurement equation. To solve the continuous-discrete space model of the state, the numerical integration method for continuous time updates and the virtual sampling iterative method for discrete observation updates are proposed, which can be used for the time update case and the observation update case, respectively. In this way, the continuous-discrete iterative extended Kalman filter for direct pose estimation is formed. The proposed methods are compared and analyzed based on the motion simulation data of different carrier and inertial measurement unit simulation data for different accuracy levels. The method proposed in this paper has been validated by carrying out the experiments on a lake. The results show that the method proposed in this paper can minimize the effect of accuracy of initial alignment on strapdown gravimetric measurement and shows a better dynamic estimation performance.

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Direct Navigation Mode and Indirect Navigation Mode for Integrated SINS/GPS

Cited by 3 publications

References 9 publications

A novel INS/ADS integrated navigation method based on INS error model-aided unbiased converted measurement

A novel INS/ADS integrated navigation method based on INS error model-aided unbiased converted measurement

Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle

Underwater mobile gravity measurement data processing using continuous-discrete Kalman filter

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