GSCV-XGBoost based information reconstruction and fusion method for SINS/DVL integrated navigation system

Qin, Hongmao; Wang, Ying; Wang, Guangcai; Qin, Xiaohui; Bian, Yougang

doi:10.1088/1361-6501/aca2cb

Cited by 3 publications

(1 citation statement)

References 43 publications

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“…DVL is a relatively good choice, it can provide accurate ground speed in the body frame, or the velocity relative to water flow. When DVL and SINS are velocity-matched through Kalman filtering, the velocity output from the DVL effectively mitigates the error accumulation in SINS over time [6,10].…”

Section: Introductionmentioning

confidence: 99%

Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Huang,

Liu,

Shao

et al. 2023

Remote Sensing

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The strap-down inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation system are widely used for autonomous underwater vehicles (AUVs). Whereas DVL works in the water tracking mode, the velocity provided by DVL is relative to the current layer and cannot be directly used to suppress the divergence of SINS errors. Therefore, the estimation and compensation of the ocean current velocity play an essential role in improving navigation positioning accuracy. In recent works, ocean currents are considered constant over a short term in small areas. In the common KF algorithm with the ocean current as a state vector, the current velocity cannot be estimated because the current velocity and the SINS velocity error are coupled. In this paper, two virtual metrology filter (VMF) methods are proposed for estimating the velocity of ocean currents based on the properties that the currents remain unchanged at the adjacent moments. New measurement equations are constructed to decouple the current velocity and the SINS velocity error, respectively. Simulations and lake tests show that both proposed methods are effective in estimating the current velocity, and each has its advantages in estimating the ocean current velocity or the misalignment angle.

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Section: Introductionmentioning

confidence: 99%

Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Huang,

Liu,

Shao

et al. 2023

Remote Sensing

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Imaging quality prediction and preload optimization for a precision optical system considering assembly errors

Wang,

Gong,

Liu

et al. 2024

Phys. Scr.

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With the gradual enhancement in the accuracy of machining and the consistency of quality in precision optical components, the assembly process has emerged as a critical phase influencing the imaging quality of precision optical systems. The ability to accurately and swiftly predict the imaging quality of these systems under various assembly errors, along with optimization of processing, can facilitate the assembly of optical systems. In this research, an integrated optomechanical simulation approach was introduced, taking into account various assembly errors. This approach involved simulating the tightening process of bolts within the optical system, and the resulting mirror deformation due to bolt preloading was derived and fitted using Zernike polynomials. Furthermore, Zeman software was utilized to model the imaging quality of the optical system, factoring in both mirror deformation and posture deviations. The effects of different assembly errors on the energy concentration of the optical system were systematically examined. A dataset comprising preloads, posture deviations, and their corresponding energy concentrations was created. Ultimately, a surrogate model incorporating a combined MLP-XGBoost neural network was developed and trained on this dataset. The model's superiority and reliability regarding prediction accuracy were confirmed through comparisons with MLP and XGBoost models, as well as traditional regression models (BP and SVR). Additionally, the stochastic gradient descent method was applied to optimize the preload magnitudes under various posture deviations of the primary and secondary mirrors. The findings indicated an average improvement of 11.34% in energy concentration compared to the values prior to optimization. This method significantly enhances the assembly efficiency and precision of the dual-reflector optical system.

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Selection and Pathways to Next Generation Innovations of Speed Over Ground (SOG) Measurement Technologies to Overcome Harsh Conditions and Technological Limitations: A Review

Mahdi Imam,

Mokhtar,

Wan Muhamad Hatta

et al. 2024

IEEE Sensors J.

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GSCV-XGBoost based information reconstruction and fusion method for SINS/DVL integrated navigation system

Cited by 3 publications

References 43 publications

Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Imaging quality prediction and preload optimization for a precision optical system considering assembly errors

Selection and Pathways to Next Generation Innovations of Speed Over Ground (SOG) Measurement Technologies to Overcome Harsh Conditions and Technological Limitations: A Review

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