Novel In-flight Coarse Alignment of Low-cost Strapdown Inertial Navigation System for Unmanned Aerial Vehicle Applications

Wang, Dingjie; Chen, Liang; Wu, Jie

doi:10.2322/tjsass.59.10

Cited by 9 publications

(6 citation statements)

References 16 publications

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“…To determine the rough initial attitude of a moving body, we proposed a novel in-flight coarse alignment method based on the rotation vector [3]. This approach aims at accomplishing attitude initialization during UAV flight, and is demonstrated by the field test.…”

Section: Improvement With In-flight Coarse Alignmentmentioning

confidence: 99%

“…This approach aims at accomplishing attitude initialization during UAV flight, and is demonstrated by the field test. In the following part, the algorithm is presented briefly and the readers can refer to [3] for details.…”

Section: Improvement With In-flight Coarse Alignmentmentioning

confidence: 99%

“…Micro-Electro-Mechanical System (MEMS), enables to use an affordable GNSS/INS integrated system for small UAVs [2]. Its adoption spares more space and weight for other functional instruments, resulting in reinforcement of UAV capability for diverse tasks [3].…”

Section: Introductionmentioning

confidence: 99%

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Metrology and Measurement Systems

Wang¹,

Dong²,

Li³

et al. 2018

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The advance of MEMS-based inertial sensors successfully expands their applications to small unmanned aerial vehicles (UAV), thus resulting in the challenge of reliable and accurate in-flight alignment for airborne MEMS-based inertial navigation system (INS). In order to strengthen the rapid response capability for UAVs, this paper proposes a robust in-flight alignment scheme for airborne MEMS-INS aided by global navigation satellite system (GNSS). Aggravated by noisy MEMS sensors and complicated flight dynamics, a rotation-vector-based attitude determination method is devised to tackle the in-flight coarse alignment problem, and the technique of innovation-based robust Kalman filtering is used to handle the adverse impacts of measurement outliers in GNSS solutions. The results of flight test have indicated that the proposed alignment approach can accomplish accurate and reliable in-flight alignment in cases of measurement outliers, which has a significant performance improvement compared with its traditional counterparts.

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Section: Improvement With In-flight Coarse Alignmentmentioning

confidence: 99%

Section: Improvement With In-flight Coarse Alignmentmentioning

confidence: 99%

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Metrology and Measurement Systems

Wang¹,

Dong²,

Li³

et al. 2018

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“…With the development of Micro-Electro-Mechanical System (MEMS) technology, the MEMS inertial measurement unit (MIMU) is gaining attention due to its integrability and miniaturization in several fields such as guided weaponry, unmanned automatic vehicles (UAVs), and robots [ 1 , 2 , 3 , 4 , 5 , 6 ]. As a dead-reckoning method, the initial alignment accuracy has a vital impact to the final inertial navigation results, while there are only tens of seconds for a tactical weapon.…”

Section: Introductionmentioning

confidence: 99%

Robust SCKF Filtering Method for MINS/GPS In-Motion Alignment

Zhang

2021

Sensors

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This paper presents a novel multiple strong tracking adaptive square-root cubature Kalman filter (MSTASCKF) based on the frame of the Sage–Husa filter, employing the multi-fading factor which could automatically adjust the Q value according to the rapidly changing noise in the flight process. This filter can estimate the system noise in real-time during the filtering process and adjust the system noise variance matrix Q so that the filtering accuracy is not significantly reduced with the noise. At the same time, the residual error in the filtering process is used as a measure of the filtering effect, and a multiple fading factor is introduced to adjust the posterior error variance matrix in the filtering process, so that the residual error is always orthogonal and the stability of the filtering is maintained. Finally, a vibration test is designed which simulates the random noise of the short-range guided weapon in flight through the shaking table and adds the noise to the present simulation trajectory for semi-physical simulation. The simulation results show that the proposed filter can significantly reduce the attitude estimation error caused by random vibration.

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“…As is well known that fast target tracking for UAV aerial image sequences is very complex, and the process needs to use low cost and high performance techniques [7]. Particularly, UAV system receives video frames obtained by a nadir camera, and then input texture features to the image sequence target tracking system.…”

Section: Introductionmentioning

confidence: 99%

A novel fast target tracking method for UAV aerial image

2017

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Unmanned aerial vehicles (UAV) are able to achieve autonomous flight without drivers, and UAV has been a key tool to extract space data. Therefore, how to detect the trajectories of targets from UAV aerial image sequences is of great importance. Because local features are suitable to detect target tracking, we exploit scaleinvariant feature transform (SIFT) features to describe the interesting keypoints of targets. The main innovation of this paper is to utilize Multiple hypothesis tracking (MHT) algorithm to track an object (target) in a series of image sequences. Particularly, we develop a MHT framework based on a multidimensional assignment formulation and a sliding time window policy. To obtain target tracking from UAV aerial image sequences, three steps should be done, that is, 1) Breaking each track set into tracklet at a specific time, 2) Estimating the association cost of each track set, 3) Merging trajectory fragments to a longer one iteratively. Finally, we collect several UAV aerial image sequences with different target density to construct a dataset, and experimental results demonstrate the effectiveness of the proposed algorithm.

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Novel In-flight Coarse Alignment of Low-cost Strapdown Inertial Navigation System for Unmanned Aerial Vehicle Applications

Cited by 9 publications

References 16 publications

Metrology and Measurement Systems

Metrology and Measurement Systems

Robust SCKF Filtering Method for MINS/GPS In-Motion Alignment

A novel fast target tracking method for UAV aerial image

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