In-Motion Coarse Alignment Method for SINS/GPS Using Position Loci

Xu, Xiang; Xu, Dacheng; Zhang, Tao; Zhao, Heming

doi:10.1109/jsen.2019.2896274

Cited by 45 publications

(21 citation statements)

References 27 publications

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“…When calculating the position and attitude of RINS, three reference frames need to be defined: navigation frame, AGV body frame and IMU sensor frame. 15 Navigation frame { O n x n y n z n }: that is, local geographic frame, where the origin is located at the center of AGV body. The x -axis points to the east, the y -axis points to the north, and the z -axis points to the vertical upward direction.…”

Section: Single-axis Rins Methodsmentioning

confidence: 99%

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

Feng

Duan³

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The current navigation methods for port heavy-duty automated guided vehicle mainly include the antenna radar-transponder navigation and the global navigation satellite system. However, the former has a huge cost and the latter will generate multi-path error easily. To avoid these problems, an improved integrated navigation method based on single-axis rotating inertial navigation system, global navigation satellite system and kinematics is proposed. First, the rotating inertial navigation system/ global navigation satellite system and rotating inertial navigation system/Kinematics integrated navigation methods generate corresponding estimates and filtering error covariances through their respective extended Kalman filter filters, and then the two sets of results are fused by the optimal weighted voting fusion method. The proposed method is applied to a heavy-duty automated guided vehicle for engineering verification. Without multi-path error, the navigation accuracy is 1.8–2.98 times higher than that of the traditional global navigation satellite system navigation. In the case of multi-path error, the improved method still has high fault tolerance and high navigation accuracy. The accuracy of this method satisfies the requirements of port heavy-duty automated guided vehicle, which can greatly reduce the number of transponders and has high practical value.

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Section: Single-axis Rins Methodsmentioning

confidence: 99%

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

Feng

Duan³

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Therefore, ref. [21] investigated an in-motion coarse alignment method for the SINS/GPS integrated system using position loci. The vector observation, based on position trajectory, further expands the application range of coarse alignment on the moving base.…”

Section: Introductionmentioning

confidence: 99%

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

Huang

Wei

2022

Applied Sciences

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In this paper, an improved in-motion coarse alignment method is proposed for a strapdown inertial navigation system (SINS) using position loci obtained from the Global Positioning System (GPS). The difference from the popular coarse alignment methods is that the proposed algorithm uses GPS position loci information to form the vector observation, and does not need velocity information, which expands the application range of in-motion coarse alignment. In addition, this paper utilizes the Optimal-REQUEST algorithm to reduce the influence of random errors contained in the vector observation. The Optimal-REQUEST algorithm is an adaptive iterative updating algorithm, which can adaptively adjust the gain of the filter according to the loss function. Simulation results confirmed that the proposed algorithm can suppress the impact of random errors effectively. The pitch, roll and yaw angles calculated by the proposed algorithm were improved by 51.95%, 53.80% and 63.03% compared with the comparison algorithms.

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“…The proposed method utilises the concept of optimisationbased alignment (OBA) which is used as a link between the problem of the attitude determination and the initial alignment in many works of literature [13][14][15]. The OBA is derived based on the attitude matrix decomposition, where the real-time attitude matrix is decomposed into three parts: a constant matrix which is the objective attitude matrix of the alignment and two time-varying matrices which are respectively the attitude change of the navigation and body frame [16,17].…”

Section: Introductionmentioning

confidence: 99%

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

Jameian

Safarinejadian

2021

IET Radar Sonar & Navi

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This study investigates two fundamental challenges in the initial alignment of strapdown inertial navigation systems and presents creative solutions to overcome these challenges. The first challenge is to determine the settling time in different operating conditions such as stationary, quasistationary, in-motion, etc. The proposed solution to this challenge is to adjust the settling time of the initial alignment adaptively by evaluating the initial attitude matrix computed using the vector observations instead of allocating a fixed interval time for settling time. The second challenge is the existence of uncertainties in the vector observations, which adversely affect the initial alignment performance. The proposed solution to this challenge is to evaluate the quality of the vector observations used in the initial alignment by a real-time algorithm. Appropriate weights are assigned to vector observations instead of allocating a uniform weight to all vectors, depending on the vector observation's quality. The capability and performance of the proposed solutions are evaluated using different experimental scenarios such as three-axis rate table and vehicle tests. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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In-Motion Coarse Alignment Method for SINS/GPS Using Position Loci

Cited by 45 publications

References 27 publications

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

In-Motion Coarse Alignment Method Based on Position Loci and Optimal-REQUEST for SINS

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

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