The integration of strap-down INS and GPS based on adaptive error damping

Stancic, Rade; Graovac, Stevica

doi:10.1016/j.robot.2010.06.004

Cited by 31 publications

(13 citation statements)

References 8 publications

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“…The aim of the correction is that the velocity or position change rate of the loose coupled SINS/GPS integrated system should be less than the real required motor velocity and position change rate. The specific methods of correction are as follows [13][14][15][16][17].…”

Section: The Output Correction Of the Loose Coupled Sins/gps Systemmentioning

confidence: 99%

The optimization of the outputs of loose coupled SINS/GPS system

Liu¹,

Xu²,

Li³

et al. 2016

Proceedings of the 2016 International Conference on Artificial Intelligence and Engineering Applications

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In addition to check the availability of the Global Position System (GPS) receiver, residual χ2 detection method, which is used to assess the quality of auxiliary information provided by GPS and the fluctuations of the outputs of Kalman filter, is introduced in this paper. If the value of the detecting function is larger than the threshold value, the current navigation output minus the last navigation output and the difference is compared to another threshold which is set according to the motor performance of the vehicle. If the difference is bigger than the threshold, according to the change direction of the difference, the navigation results are corrected. While, if the difference is smaller than the threshold, the navigation results are output directly. The on-board experiments show that this method could monitor the fluctuations of outputs of GPS receiver and Kalman filter. And the precision of the attitude and velocity are greatly improved after the process of correction. The precision of the position is improved to a certain extent.

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Section: The Output Correction Of the Loose Coupled Sins/gps Systemmentioning

confidence: 99%

The optimization of the outputs of loose coupled SINS/GPS system

Liu¹,

Xu²,

Li³

et al. 2016

Proceedings of the 2016 International Conference on Artificial Intelligence and Engineering Applications

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“…By sinusoidally dithering the gyroscope, a continuous input rate is maintained on the gyroscope to eliminate the lock-in effect. However, the mechanical dither will become an adverse vibration coupling with external random vibration and result in a measurement instability and error of POS [13]. For a POS used in the motion compensation of imaging payloads, the RLG IMU requirements can close off the RLG mechanical dithers transferred to imaging payloads, and avoid the secondary disturbance [14].…”

Section: Design Of Inertial Measurement Unitsmentioning

confidence: 99%

Error Modeling, Calibration, and Compensation of Inertial Measurement Unit (IMU)

Quan

Gong

Fang

et al. 2015

INS/CNS/GNSS Integrated Navigation Technology

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“…Equation which describes the behavior of the vertical channels SDINS 11 , given in local NED coordinate system, can be written as:…”

Section: Damping Of Vertical Channel Errors In Sdinsmentioning

confidence: 99%

“…For damping errors in the horizontal channel 11 , can be used outward speed information that we obtained from the GPS: Φ  correction. The optimal choice of coefficients K is based on a compromise between the size of the system static errors and required system bandwidth relative to high-frequency components of gyro errors, on the other.…”

Section: Damping Of Horizontal Channel Errors In Sdinsmentioning

confidence: 99%

Integration of INS, GPS, Magnetometer and Barometer for Improving Accuracy Navigation of the Vehicle

Sokolović¹,

Dikić²,

Stancic

2013

DSJ

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This paper describes integrated navigation system that is based on a low cost inertial sensor, global positioning system (GPS) receiver, magnetometer and a barometer, in order to improve accuracy of complete attitude and navigation solution. The main advantage of integration consists in availability of reliable navigation parameters during the intervals of absence of GPS data. The magnetometer and the barometer are applied for the attitude calibration and vertical channel stabilization, respectively. The acceptable accuracy of inertial navigation system (INS) is achieved by the proper damping of INS errors. The integration is made by the implementation of an extended Kalman filter (EKF) with control signal that is designed appropriate for low accuracy sensors noise characteristics. The analysis of integrated navigation system performances is made experimentally and the results show that integrated navigation system provides continuous and reliable navigation solutions.

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The integration of strap-down INS and GPS based on adaptive error damping

Cited by 31 publications

References 8 publications

The optimization of the outputs of loose coupled SINS/GPS system

The optimization of the outputs of loose coupled SINS/GPS system

Error Modeling, Calibration, and Compensation of Inertial Measurement Unit (IMU)

Integration of INS, GPS, Magnetometer and Barometer for Improving Accuracy Navigation of the Vehicle

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