PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)最新文献_第6页

Error analysis of strapdown inertial navigation using dual quaternion algebra 基于对偶四元数代数的捷联惯性导航误差分析

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309002

Yuanxin Wu, Xiaoping Hu, Mei-ping Wu, D. Hu

{"title":"Error analysis of strapdown inertial navigation using dual quaternion algebra","authors":"Yuanxin Wu, Xiaoping Hu, Mei-ping Wu, D. Hu","doi":"10.1109/PLANS.2004.1309002","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309002","url":null,"abstract":"The general displacement of a rigid body in a strapdown inertial navigation system (SDINS) is traditionally separately modeled and analyzed using matrix algebra, i.e., direction cosine matrix or quaternion for rotation analysis and vector for translation analysis. This paper adopts dual quaternion algebra, a most concise and unified mathematical tool, to represent the general displacement of a rigid body and analyze the error characteristics of SDINS. The content of this paper is organized as follows. First of all, the continuous strapdown inertial navigation equations are developed in terms of dual quaternions. Then two error models of SDINS are derived based on quaternion algebra, namely, the additive dual quaternion error (ADQE) model and multiplicative dual quaternion error (MDQE) model. It is shown that the equivalent tilt (ET) error model, which is the attitude error propagation model in conventional SDINS, can be classified into the MDQE model. The error analysis in this paper will help to construct the future filtering algorithms based on dual quaternions, such as for the integrated navigation aided by dynamic vision.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132584687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Comparison of the sensitivity limits for GPS and Galileo receivers in multipath scenarios GPS和Galileo接收机在多径情况下灵敏度极限的比较

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309035

A. Schmid, A. Neubauer

{"title":"Comparison of the sensitivity limits for GPS and Galileo receivers in multipath scenarios","authors":"A. Schmid, A. Neubauer","doi":"10.1109/PLANS.2004.1309035","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309035","url":null,"abstract":"The global navigation satellite systems (GNSS) market is anticipated by most market researchers to experience exponential growth in the consumer segment, to the largest extend through the introduction of location based services (LBS). LBS - including the U.S. E-911 mandate - require position fixes at demanding rural sites, such as urban canyon, moderate indoor, and in vehicles without external antennae. The satellite signals are not only attenuated, but also subjected to strong multipath fading. Developing GPS/Galileo receivers for high-volume markets requires support for LBS, which in turn necessitates enhanced receiver sensitivity and multipath robustness. Which business cases are feasible is therefore partially determined by the maximally achievable sensitivity under various multipath scenarios. These sensitivity limits form a baseline for the receiver design. This paper algebraically derives the sensitivity limits for acquisition (i.e. synchronization) of direct sequence spread spectrum positioning signals under multipath propagation conditions. The derived formulas are then evaluated exemplarily for the parameters of the openly accessible L1-band GPS and Galileo signals, while they are also valid for other positioning signals. As commonly applied in wireless communications, the multipath environment is modelled with stochastic Ricean fading processes. The derived sensitivity limits are based on the stochastic models for multipath and noise, being transformed by RF-downconversion, despreading, coherent integration, envelope detection, noncoherent integration, and Neyman-Pearson detection. These results are also provided as plots of probability of detection versus carrier power to noise power spectral density, parameterized for various noncoherent integration times and Ricean factors.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123830169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Planning the future of the World Geodetic System 1984 1984年规划世界大地测量系统的未来

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309054

S. A. True

{"title":"Planning the future of the World Geodetic System 1984","authors":"S. A. True","doi":"10.1109/PLANS.2004.1309054","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309054","url":null,"abstract":"The Department of Defense (DoD) World Geodetic System 1984 (WGS 84) defines a family of closely related global coordinate systems and Earth models that support positioning and navigation. The National Geospatial-Intelligence Agency (NGA) is responsible for insuring that the WGS 84 continues to meet the ever-increasing accuracy demands of all its users. Major users include, the Navstar Global Positioning System that provides WGS 84 positions by design, the U.S. DoD, the North Atlantic Treaty Organization (NATO), the International Civil Aviation Organization (ICAO), and the International Hydrographic Organization (IHO). Despite its name, WGS 84 is not a 20-year old system. Numerous updates have been made to various components of the system and more are planned for the future. Improvements include increasing the accuracy with which WGS is tied to the Earth, increasing the accuracy and resolution of the gravity model, incorporating a model of the Earth's magnetic field, refining the relationships between WGS 84 and other geodetic datums and coordinate systems, and improving the scope and quality of WGS documentation. This paper traces the evolution of the WGS 84 from the early 1980's to the present and describes NGA's plans to meet the future needs of WGS users.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123952494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Adaptive Kalman filtering algorithms for integrating GPS and low cost INS 集成GPS和低成本INS的自适应卡尔曼滤波算法

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1308998

C. Hide, T. Moore, M. Smith

{"title":"Adaptive Kalman filtering algorithms for integrating GPS and low cost INS","authors":"C. Hide, T. Moore, M. Smith","doi":"10.1109/PLANS.2004.1308998","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308998","url":null,"abstract":"GPS and Inertial Navigation Systems are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low cost inertial sensors have become available. Although they exhibit large errors, GPS measurements can be used correct the INS and sensor errors to provide high accuracy real-time navigation. The integration of GPS and INS measurements is usually achieved using a Kalman filter. The measurement and process noise matrices used in the Kalman filter represent the stochastic properties of the GPS and INS systems respectively. Traditionally they are defined a priori and remain constant throughout a processing run. In reality, the stochastic properties of the system vary depending on factors such as vehicle dynamics and environmental conditions. This is particularly an issue for low cost inertial sensors where the initial sensor errors can be large, and experience significant temporal variation. This paper investigates three adaptive Kalman filtering algorithms that can be used to improve the estimation of the stochastic properties of a low cost INS. The algorithms are tested using a low cost Crossbow MEMS IMU integrated with carrier phase GPS for a marine application. The adaptive Kalman filtering algorithms are shown to reduce the dependence on the a priori information used in the filter. This results in a reduction in the time required to initialise the sensor errors and align the INS, and results in an improvement in navigation performance.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129986002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 162

Cooperative location model under the Nearest Neighbor criterion 基于最近邻准则的协同定位模型

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309056

Yi Xiao, He You, Guan Xin

引用次数: 4

Experimental research on counter-balanced dither mechanism for Ring Laser Gyroscope 环形激光陀螺仪平衡抖动机理的实验研究

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1308979

Wang Kedong, Gu Qitai, Y. Lei

引用次数: 1

A Superconducting Gravity Gradiometer for inertial navigation 惯性导航用超导重力梯度仪

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309073

M. Moody, H. Paik

引用次数: 9

Intersystem and intrasystem interference with signal imperfections 系统间和系统内的干扰与信号缺陷

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309042

J. Betz, B. M. Titus

引用次数: 21

FaSTAP/spl trade/ : A scalable anti-jam architecture for GPS FaSTAP/spl trade/:一种可扩展的GPS抗干扰架构

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1309034

C. Reed, R. Van Wechel, I. Johnston, B. Baeder, E. Hogan

引用次数: 1

A linearized model for the line of sight guidance law 视线制导法的线性化模型

PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556) Pub Date : 2004-04-26 DOI: 10.1109/PLANS.2004.1308994

F. Belkhouche, B. Belkhouche, P. Rastgoufard

引用次数: 3