Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of ...Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.展开更多
This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver d...This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.展开更多
The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phas...The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.展开更多
为了提升全球定位系统(Global Positioning System,GPS)信号中断场景下传统滤波方法对非线性误差抑制不足的缺陷,提出了一种多模态融合的注意力机制卷积长短期记忆网络(Convolutional Long Short-Term Memory Neural Network Based on A...为了提升全球定位系统(Global Positioning System,GPS)信号中断场景下传统滤波方法对非线性误差抑制不足的缺陷,提出了一种多模态融合的注意力机制卷积长短期记忆网络(Convolutional Long Short-Term Memory Neural Network Based on Attention Mechanism under Multi-modal Fusion,MF-ACLSTM)导航补偿方法。该模型通过卷积神经网络(Convolutional Neural Network,CNN)进行空间特征提取,结合长短期记忆神经网络(Long Short-Term Memory Neural Network,LSTM)进行时序特征建模,以有效融合惯性导航与GPS数据,并引入注意力机制,动态调整不同传感器模态对导航估计的贡献权重,提高数据融合的鲁棒性。在GPS信号中断时,通过历史惯性导航数据与模型的自回归机制,实现短期精确预测和长期误差抑制,使导航结果更精准;利用获得的实验数据对所提方法的性能进行了验证。实验结果表明,在GPS信号中断的场景下,所提方法较传统滤波方法在定位误差和长期稳定性等方面均有显著提升。展开更多
This paper introduces the GPS intelligent vehicle navigation system (IVNS). This system can be widely applied to the urban fields, inter province and inter state transport which, as a part of intelligent transport ...This paper introduces the GPS intelligent vehicle navigation system (IVNS). This system can be widely applied to the urban fields, inter province and inter state transport which, as a part of intelligent transport systems(ITS), would contribute toward improving troublesome driving conditions on driver′s benefits. The paper discuss as two key techniques: city geographical information system(GIS), real time correction of the deviation.展开更多
For the improvement of accuracy and better fault-tolerant performance, a global position system （GPS）/vision navigation （VISNAV） integrated relative navigation and attitude determination approach is presented for ...For the improvement of accuracy and better fault-tolerant performance, a global position system （GPS）/vision navigation （VISNAV） integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.展开更多
To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two diff...To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.展开更多
This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost so...This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore targeting accurate attitude estimation is considered a significant contribution to the overall navigation error. A better estimation of the body attitude estimates leads to more accurate position and velocity estimation. For that end, the aim of this research is to exploit the magnetometer and accelerometer data in the attitude estimation technique. In this paper, a Scaled Unscented Kalman Filter (SUKF) based on the quaternion concept is designed for the INS/GPS/Mag integrated navigation system under large attitude error conditions. Simulation and experimental results indicate a satisfactory performance of the newly developed model.展开更多
GPS navigation signal includes vital information such as orbital parameters, clock error coefficients etc. This received signal which is extremely weak is affected by several errors during its propagation and is of th...GPS navigation signal includes vital information such as orbital parameters, clock error coefficients etc. This received signal which is extremely weak is affected by several errors during its propagation and is of the order of 10-16 W. The noise floor of this signal is 400 times higher than the transmitted signal. The situation becomes much worse particularly when the GPS receiver is located at urban areas where the multipath effect is predominant in the code and carrier phase measurements. GPS usage is not limited to the aircraft en-route navigation and missile guidance where the user receives the satellite signals from the open sky. At the present time, it has become an essential utility in the car navigation, mobile phones, surveying and aircraft landing application. The signal propagation characteristics particularly the short-term variations severely affect the quality, availability and continuity of the system. In this paper, short-term propagation characteristics of GPS signal are modeled and analyzed. Short-term variations are mainly due to multipath reflections and Doppler shift which degrades the quality of received signal particularly in urban environments. The variation of signal quality with respect to user velocity is observed using Rayleigh and Rician fading models.展开更多
The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is...The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is that the GPS systems work well only in open environments with no overhead obstructions and they are subject to large unavoidable errors when the reception from some of the satellites are blocked. This occurs frequently in urban environments, forests and tunnels. GPS systems require at least four “visible” satellites to maintain a good position fix. In many situations in which higher level of accuracy is required, the navigation cannot be achieved by GPS alone. This paper discusses the design of a reliable multisensor fusion algorithm using GPS and Inertial Navigation System in order to decrease the implementation cost of such systems on land vehicles. The major contribution of this paper is in the definition of the possible developments and research axes in land navigation.展开更多
The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time...The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.展开更多
GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and...GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and the unbounded DR accumulation of errors over time make the position information with undesirable position errors. The map matching can improve the position accuracy and availability of the vehicular position system. In this paper, general principle of map matching is investigated according to segmentation and feature extraction, and a map matching algorithm based on D-S (Dempster-Shafer) evidence reasoning for GPS integrated navigation system is proposed, which can find the exact road on which a car moves. For the experiments, a car navigation system is developed with some sensors and the field test demonstrates the effectiveness and applicability of the algorithm for the car location and navigation.展开更多
The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precisi...The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precision realization at approximately the same level of the global filter, thus, making possible the engineering operation as well as shortening the computing time. This paper discusses the principles and features of SODKF when used in GPS/INS integrated navigation system. The system will be firstly divided into three subsystems and then corrected in both open and closed loops. The system simulation results by two integrated patterns show that SODKF is efficient and realizable. While the three subsystems are simulated in series, the computing speed doubles that of the global system. In addition, its optimal estimating precision remains unchanged. It can be concluded from this paper that large integrated navigation systems with GPS, INS, Terrain Match, Loran C, Doppler Radar and Radio Altimeter can be made more efficient by this multi subsystem of navigation.展开更多
This paper investigates the kernel entropy based extended Kalman filter(EKF)as the navigation processor for the Global Navigation Satellite Systems(GNSS),such as the Global Positioning System(GPS).The algorithm is eff...This paper investigates the kernel entropy based extended Kalman filter(EKF)as the navigation processor for the Global Navigation Satellite Systems(GNSS),such as the Global Positioning System(GPS).The algorithm is effective for dealing with non-Gaussian errors or heavy-tailed(or impulsive)interference errors,such as the multipath.The kernel minimum error entropy(MEE)and maximum correntropy criterion(MCC)based filtering for satellite navigation system is involved for dealing with non-Gaussian errors or heavy-tailed interference errors or outliers of the GPS.The standard EKF method is derived based on minimization of mean square error(MSE)and is optimal only under Gaussian assumption in case the system models are precisely established.The GPS navigation algorithm based on kernel entropy related principles,including the MEE criterion and the MCC will be performed,which is utilized not only for the time-varying adaptation but the outlier type of interference errors.The kernel entropy based design is a new approach using information from higher-order signal statistics.In information theoretic learning(ITL),the entropy principle based measure uses information from higher-order signal statistics and captures more statistical information as compared to MSE.To improve the performance under non-Gaussian environments,the proposed filter which adopts the MEE/MCC as the optimization criterion instead of using the minimum mean square error(MMSE)is utilized for mitigation of the heavy-tailed type of multipath errors.Performance assessment will be carried out to show the effectiveness of the proposed approach for positioning improvement in GPS navigation processing.展开更多
文摘Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.
文摘This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.
文摘The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.
文摘This paper introduces the GPS intelligent vehicle navigation system (IVNS). This system can be widely applied to the urban fields, inter province and inter state transport which, as a part of intelligent transport systems(ITS), would contribute toward improving troublesome driving conditions on driver′s benefits. The paper discuss as two key techniques: city geographical information system(GIS), real time correction of the deviation.
文摘For the improvement of accuracy and better fault-tolerant performance, a global position system （GPS）/vision navigation （VISNAV） integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.
基金supported by the National Natural Science Foundation of China (60902055)
文摘To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.
文摘This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore targeting accurate attitude estimation is considered a significant contribution to the overall navigation error. A better estimation of the body attitude estimates leads to more accurate position and velocity estimation. For that end, the aim of this research is to exploit the magnetometer and accelerometer data in the attitude estimation technique. In this paper, a Scaled Unscented Kalman Filter (SUKF) based on the quaternion concept is designed for the INS/GPS/Mag integrated navigation system under large attitude error conditions. Simulation and experimental results indicate a satisfactory performance of the newly developed model.
文摘GPS navigation signal includes vital information such as orbital parameters, clock error coefficients etc. This received signal which is extremely weak is affected by several errors during its propagation and is of the order of 10-16 W. The noise floor of this signal is 400 times higher than the transmitted signal. The situation becomes much worse particularly when the GPS receiver is located at urban areas where the multipath effect is predominant in the code and carrier phase measurements. GPS usage is not limited to the aircraft en-route navigation and missile guidance where the user receives the satellite signals from the open sky. At the present time, it has become an essential utility in the car navigation, mobile phones, surveying and aircraft landing application. The signal propagation characteristics particularly the short-term variations severely affect the quality, availability and continuity of the system. In this paper, short-term propagation characteristics of GPS signal are modeled and analyzed. Short-term variations are mainly due to multipath reflections and Doppler shift which degrades the quality of received signal particularly in urban environments. The variation of signal quality with respect to user velocity is observed using Rayleigh and Rician fading models.
文摘The interest for land navigation has increased for the recent years. With the advent of the Global Position System (GPS) we have now the ability to determine the absolute position anywhere on the globe. The problem is that the GPS systems work well only in open environments with no overhead obstructions and they are subject to large unavoidable errors when the reception from some of the satellites are blocked. This occurs frequently in urban environments, forests and tunnels. GPS systems require at least four “visible” satellites to maintain a good position fix. In many situations in which higher level of accuracy is required, the navigation cannot be achieved by GPS alone. This paper discusses the design of a reliable multisensor fusion algorithm using GPS and Inertial Navigation System in order to decrease the implementation cost of such systems on land vehicles. The major contribution of this paper is in the definition of the possible developments and research axes in land navigation.
文摘The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.
文摘GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and the unbounded DR accumulation of errors over time make the position information with undesirable position errors. The map matching can improve the position accuracy and availability of the vehicular position system. In this paper, general principle of map matching is investigated according to segmentation and feature extraction, and a map matching algorithm based on D-S (Dempster-Shafer) evidence reasoning for GPS integrated navigation system is proposed, which can find the exact road on which a car moves. For the experiments, a car navigation system is developed with some sensors and the field test demonstrates the effectiveness and applicability of the algorithm for the car location and navigation.
文摘The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precision realization at approximately the same level of the global filter, thus, making possible the engineering operation as well as shortening the computing time. This paper discusses the principles and features of SODKF when used in GPS/INS integrated navigation system. The system will be firstly divided into three subsystems and then corrected in both open and closed loops. The system simulation results by two integrated patterns show that SODKF is efficient and realizable. While the three subsystems are simulated in series, the computing speed doubles that of the global system. In addition, its optimal estimating precision remains unchanged. It can be concluded from this paper that large integrated navigation systems with GPS, INS, Terrain Match, Loran C, Doppler Radar and Radio Altimeter can be made more efficient by this multi subsystem of navigation.
基金supported by the Ministry of Science and Technology,Taiwan(Grant Number MOST 108-2221-E-019-013).
文摘This paper investigates the kernel entropy based extended Kalman filter(EKF)as the navigation processor for the Global Navigation Satellite Systems(GNSS),such as the Global Positioning System(GPS).The algorithm is effective for dealing with non-Gaussian errors or heavy-tailed(or impulsive)interference errors,such as the multipath.The kernel minimum error entropy(MEE)and maximum correntropy criterion(MCC)based filtering for satellite navigation system is involved for dealing with non-Gaussian errors or heavy-tailed interference errors or outliers of the GPS.The standard EKF method is derived based on minimization of mean square error(MSE)and is optimal only under Gaussian assumption in case the system models are precisely established.The GPS navigation algorithm based on kernel entropy related principles,including the MEE criterion and the MCC will be performed,which is utilized not only for the time-varying adaptation but the outlier type of interference errors.The kernel entropy based design is a new approach using information from higher-order signal statistics.In information theoretic learning(ITL),the entropy principle based measure uses information from higher-order signal statistics and captures more statistical information as compared to MSE.To improve the performance under non-Gaussian environments,the proposed filter which adopts the MEE/MCC as the optimization criterion instead of using the minimum mean square error(MMSE)is utilized for mitigation of the heavy-tailed type of multipath errors.Performance assessment will be carried out to show the effectiveness of the proposed approach for positioning improvement in GPS navigation processing.
