Improved SITAN algorithm in the application of aided inertial navigation

Yuan, Gannan; Zhang, Hongwei; Yuan, Kefei; Zhu, Lei

doi:10.1109/mic.2012.6273436

Cited by 14 publications

(6 citation statements)

References 5 publications

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“…The red-colored points form ϒ ξ 1 . These points are indicated as Probable platform positions since the difference between the calculated terrain heights of these points and the measured terrain height ĥTer lie in the 3σ vert interval of e in (13). Thus, it is reasonable to think that the true position lies in the region formed by red-colored dots.…”

Section: Measurement Generationmentioning

confidence: 99%

“…Thus, it is reasonable to think that the true position lies in the region formed by red-colored dots. But, on the contrary, the elements of ϒ ξ 0 , the black-colored points, are regarded as improbable positions since the deviation between the calculated terrain height of these points and the measured terrain height ĥTer are outside the 3σ vert interval of e in (13).…”

Section: Measurement Generationmentioning

confidence: 99%

“…Peng proposes a two-stage matching algorithm involving coarse terrain-based matching followed by contour-based fine matching [9]. There are some studies in which TERCOM and SITAN solutions are fused to increase robustness [10], [11], [12], [13].…”

Section: Introductionmentioning

confidence: 99%

“…Y a is the specific force counterpart of Y g , where ω B IB is replaced by f B IB . F gg 15×15 is a zero matrix except F gg [13,13] = F gg [14,14] = F gg [15,15] = − 1 T g . Similarly, F aa [13,13] = F aa [14,14] = F aa [15,15] Gauss-Markov process [24], [29].…”

mentioning

confidence: 99%

“…F gg 15×15 is a zero matrix except F gg [13,13] = F gg [14,14] = F gg [15,15] = − 1 T g . Similarly, F aa [13,13] = F aa [14,14] = F aa [15,15] Gauss-Markov process [24], [29]. To calculate the error state propagation in a computer, ( 43) is needed to be discretized.…”

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confidence: 99%

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A Novel Multi-Hypothesis Filter for Terrain Aided Navigation

Tokta

Hocaoglu

2023

IEEE Access

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The susceptibility of GNSS signals has led to the development of advanced aiding systems in which information obtained from external sensors is fused with the inertial navigation solution to maintain navigation continuity in GNSS-denied environments. In terrain-aided navigation, the aim is to solve the horizontal position ambiguity of the platform with the help of pre-installed digital terrain elevation maps and estimated terrain height information obtained by the platform's barometer and distance measuring sensor readings. In this paper, we propose a novel multi-hypothesis terrain-aided navigation framework where horizontal position measurements are generated along with their covariance matrices from the estimated terrain heights. These measurements are fused with appropriate navigation hypotheses in a closed-loop configuration where augmented navigation error state estimates are fed into the navigation solution of the corresponding hypothesis. The number of hypotheses and their covariances change adaptively based on the terrain under the flight path preventing deviation from the true position for multi-modal or non-informative regions. The simulation results show that, unlike conventional TAN methods, the proposed method is able to yield accurate positioning estimations even when low-end IMUs are used. Furthermore, the proposed method is found to be effective in the presence of substantial initial errors in position, velocity, and heading.INDEX TERMS Inertial navigation, terrain referenced positioning, terrain aided navigation.

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Section: Measurement Generationmentioning

confidence: 99%

Section: Measurement Generationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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A Novel Multi-Hypothesis Filter for Terrain Aided Navigation

Tokta

Hocaoglu

2023

IEEE Access

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A new Contour-Based combined matching algorithm for underwater Terrain-Aided strapdown inertial navigation system

Ding

Cheng

2022

Measurement

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Intangible cultural heritage protection from the perspective of cultural tourism: a case study of Shaanxi Province, China

Jiawei,

Mustapha

2024

IOP Conf. Ser.: Earth Environ. Sci.

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Amidst China’s ongoing economic growth, the demand for public cultural resources has significantly risen, highlighting disparities in supply and demand. To address this issue, public cultural service reform is imperative. This article focuses on the consolidation of public cultural resource class scenic spots and their attributes. It outlines the theoretical foundations of free access to such resources and examines their positive impacts on the economy, society, and tourism. However, this approach also poses challenges, such as disrupting the economic balance of scenic areas, reduced enthusiasm for opening these spots, management difficulties, and unsustainable visitor growth. The study delves deeper into these challenges by using Xi’an Datang Furong Garden Scenic Spot as a case study, exploring how government can effectively manage public cultural resources, balance economic interests, and promote scientific protection and sustainable utilization. The paper suggests increasing financial subsidies, developing service projects, resource and environment protection, optimizing management mechanisms, and enhancing the industrial structure to ensure the sustainable development of free scenic spots. This research holds significant practical relevance.

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Improved SITAN algorithm in the application of aided inertial navigation

Cited by 14 publications

References 5 publications

A Novel Multi-Hypothesis Filter for Terrain Aided Navigation

A Novel Multi-Hypothesis Filter for Terrain Aided Navigation

A new Contour-Based combined matching algorithm for underwater Terrain-Aided strapdown inertial navigation system

Intangible cultural heritage protection from the perspective of cultural tourism: a case study of Shaanxi Province, China

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