Experimental automobile integrated navigation module

Антонов, Д. А.; Veremeenko, K. K.; Zharkov, M. V.; Zimin, R. Yu.

doi:10.1109/maes.2008.4694833

Cited by 6 publications

(7 citation statements)

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“…Algorithm based on differential Equation (3) with Ω X,Y,Z computed using GNSS velocity and coordinates data (gyro-GNSS AHRS), Transformation matrix approach using GNSS data; 4.…”

Section: Resultsmentioning

confidence: 99%

“…Strapdown inertial navigation systems (SINS) are widely used in various applications [1][2][3][4][5][6][7]. The key task of SINS design is the development of attitude determination algorithm providing attitude angles (heading, pitch, and roll) calculation within required accuracy and output rate [8].…”

Section: Introductionmentioning

confidence: 99%

“…The Moscow Aviation Institute MAI has been carrying out research and development in the field of INS since the middle of the last century. Currently, MAI has created a line of various accuracy grade SINS, depending on the type of gyroscopes used: from MEMS to laser gyroscopes [2,3]. Due to the increasing capabilities of embedded computers in the latest modifications of SINS, the attitude algorithm is based on a transformation matrix.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Experimental Results of Attitude Determination Functional Algorithms Implementation in Strapdown Inertial Navigation System

Zharkov

Veremeenko

Kuznetsov

et al. 2022

Sensors

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Strapdown inertial navigation system (SINS) software developers are usually mainly focused on the attitude determination algorithm design and characteristics. Such an algorithm can be based on different mathematical apparatus. An approach to the derivation of attitude determination algorithm equations in strapdown inertial navigation system is proposed. This algorithm is based on direct heading, pitch, and roll calculation. The qualitative differences between the proposed algorithm and the one using a transformation matrix are noted. The main objective of the paper is direct attitude angles calculation algorithm application possibilities analysis in real SINS operating conditions. The analysis is based on a comparison of the proposed algorithm with another frequently used attitude determination algorithm based on the transformation matrix. Attitude determination algorithms performance investigation results based on car and helicopter experimental tests are presented.

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“…Algorithm based on differential Equation (3) with Ω X,Y,Z computed using GNSS velocity and coordinates data (gyro-GNSS AHRS), Transformation matrix approach using GNSS data; 4.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Experimental Results of Attitude Determination Functional Algorithms Implementation in Strapdown Inertial Navigation System

Zharkov

Veremeenko

Kuznetsov

et al. 2022

Sensors

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show abstract

“…Because this magnetic field does not have drift, it can be used as a reference for the heading angle. In addition to using an inertial navigation system, various applications have adopted a magnetometer to compute headings, including mobile robots, unmanned aerial vehicles (UAVs), and missiles [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

et al. 2015

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A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs) are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

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“…RS485 is also used in building automation as the simple bus wiring and long cable length is ideal for joining remote devices [3], [4]. In paper [5], the RS485 bus was used to monitor the distributed navigation light fault, on the other hand, it is used to control the modules in the integrated with a small-sized strap-down inertial navigation system (INS) [6]. Besides that, RS485 fieldbus is also used in Environmental monitoring field [7][8] and instrument and meter [9].…”

Section: Introductionmentioning

confidence: 99%

The Solving of Bias Resistor and Its Effect on the RS485 Fieldbus

Zhao¹,

Liang²,

Zhang³

2014

JACN

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Abstract-The RS485 fieldbus has been widely used in communication, data collecting and related fields. The stable communication is the premise of its application. Maximum load, terminal resistor and bias resistor are three main parameters of RS485 field bus, which directly influence the stable of system. This paper adopts the current flow method to solve the theoretical value of bias resistor based on the equivalent circuit model of RS485 field bus, and further analyzes the influence on the maximum load and terminal resistor. The research result offers a theoretical basis for the application of RS485 filed bus and is very useful in many applications.  Index Terms-Fieldbus, RS485, bias resistor, terminal resistor.

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Experimental automobile integrated navigation module

Cited by 6 publications

References 0 publications

Experimental Results of Attitude Determination Functional Algorithms Implementation in Strapdown Inertial Navigation System

Experimental Results of Attitude Determination Functional Algorithms Implementation in Strapdown Inertial Navigation System

Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

The Solving of Bias Resistor and Its Effect on the RS485 Fieldbus

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