INS/gravity gradient aided navigation based on gravitation field particle filter

Abstract

Swarm intelligence method is an effective way to improve the particle degradation and sample depletion of the traditional particle filter. This paper proposes a particle filer based on the gravitation field algorithm (GF-PF), and the gravitation field algorithm is introduced into the resampling process to improve particle degradation and sample depletion. The gravitation field algorithm simulates the solar nebular disk model, and introduces the virtual central attractive force and virtual rotation repulsion force between particles. The particles are moves rapidly to the high-likelihood region under action of the virtual central attractive force. The virtual rotation repulsion force makes the particles keep a certain distance from each other. These operations improve estimation performance, avoid overlapping of particles and maintain the diversity of particles. The proposed method is applied into INS/gravity gradient aided navigation, by combining the sea experimental data of an inertial navigation system. Compared with the particle swarm optimization particle filter(PSO-PF) and artificial physics optimized particle filter (APO-PF), the GF-PF has higher position estimate accuracy and faster convergence speed with the same experimental conditions.

[Retracted] Construction and Simulation of Online English Reading Model in Wireless Surface Acoustic Wave Sensor Environment Optimized by Particle Swarm Optimization

“…For the first time in the literature, a metal fork-finger transducer is fabricated on a piezoelectric substrate and an alternating electric field is applied to the fork-finger transducer to excite a sound surface wave on the substrate. e sound surface wave propagates on the substrate and the fork-finger transducer in its propagation path converts the sound surface wave into an electromagnetic signal again [14]. Since the propagation speed of the sound surface wave is only one hundred thousandth of the speed of the electromagnetic wave, this function of the fork-finger transducer on the piezoelectric substrate is suitable for electronic analog signal processing technology, which can realize a variety of analog signal processing functions [15].…”

Accuracy of marine gravimetric measurements in terms of geodetic coordinates of land reference benchmark

“…In recent years, efforts to create high-resolution and precision maps of gravity field functionals have been made in various research facilities around the world. The results of these efforts are dedicated to application in ultra-precise inertial navigation (INS) [1][2][3]. The precision and resolution requirements for gravity measurements are largely dependent on the purpose of these measurements: geological survey or inertial navigation.…”

An Aided Navigation Method Based on Strapdown Gravity Gradiometer

“…In this framework, the mathematical model needs to be linearized. Some particle filter algorithms have also been considered in the field of gravity gradient matching algorithm [ 21 , 22 ]. In addition, most of the previous literatures studied the mathematical model and performance analysis based on the platform gravity gradiometer, and some factors affecting performance were considered [ 23 , 24 ].…”