2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)最新文献_第2页

Algorithm for building models of INS/GNSS integrated navigation system using the degree of identifiability 基于可识别度的INS/GNSS组合导航系统模型构建算法

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405848

K. Neusypin, M. S. Selezneva, A. Proletarsky, Kai Shen

引用次数: 12

Precise positioning using the modified ambiguity function approach with combination of GPS and Galileo observaions 利用修正模糊函数方法结合GPS和伽利略观测进行精确定位

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405841

D. Kwasniak, S. Cellmer, K. Nowel

引用次数: 2

On-line calibration method of SINS/DVL integrated navigation system SINS/DVL组合导航系统在线标定方法

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405911

J. Gong, J. Liang, Ya. Wang, H. Weng

{"title":"On-line calibration method of SINS/DVL integrated navigation system","authors":"J. Gong, J. Liang, Ya. Wang, H. Weng","doi":"10.23919/ICINS.2018.8405911","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405911","url":null,"abstract":"In this paper, the question of integrated navigation system calibration has been researched. Based on the principle of DVL velocity measurement, we analyzed the error source, and constructed the DVL error model based on the scale factor and misalignment angle between SINS and DVL. Based on the DVL error model and the SINS navigation error model, an integrated navigation system model has been established. And a corresponding Kalman filter model has been designed using the speed error as the observation. The observability analysis approach was used to analyze the observability of SINS/DVL integrated navigation system and the estimation of the misalignment angle and scale factor. It is verified the correctness of this method by digital simulation. The sufficient condition which the SINS/DVL integrated navigation system needs has been deduce in mathematics. The main conclusions are presented as following: the scale factor is observable when the carrier takes a movement with constant attitude and time-varying special force. And if the yaw-direction misalignment angle is only considered and the upward velocity is zero, the yaw-direction misalignment angle is observable when the carrier takes a linear movement with constant velocity. And the misalignment angles are observable when the carrier takes a movement with constant attitude and time-varying special force and linearly independent derivatives of special force for different time. Then, a method of implementing on-line calibration which contains of three types of exercise has been designed. Finally, the on-line calibration method provided in this paper was used to verify by the vessel tests. The experiment results shows that the SINS/DVL integrated on-line calibration method could effectively estimate the required all kinds of error sources. The error compensation can effectively suppress the accumulation of SINS error and improve the positioning accuracy of the SINS/DVL integrated navigation system. The finally positioning accuracy is better than 0.75%d.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129085814","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: 7

A low-cost attitude determination algorithm based on MEMS IMU/dual-antenna GNSS receiver for UAVs 基于MEMS IMU/双天线GNSS接收机的无人机低成本姿态确定算法

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405847

Q. Yang, K. Wang, S. Li, Y. Liu, Q. Fu

{"title":"A low-cost attitude determination algorithm based on MEMS IMU/dual-antenna GNSS receiver for UAVs","authors":"Q. Yang, K. Wang, S. Li, Y. Liu, Q. Fu","doi":"10.23919/ICINS.2018.8405847","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405847","url":null,"abstract":"This paper addresses the problem of attitude determination of small lightweight unmanned aerial vehicles (UAVs) under complex flight environments and motion profiles. To achieve a robust attitude solution, the dual-antenna GNSS attitude determination technique is introduced and enhanced. The short baseline attitude solution requires reliable carrier phase ambiguity resolution to achieve sufficient accuracy. Therefore, a new extension to the LAMBDA algorithm is proposed, which takes the baseline length constraints and pitch/yaw estimation from the MEMS IMU into account. On the one hand, the constraints help resolve float solution. On the other hand, they reduce the volume of ambiguity space. Thus the rapidness and robustness of the algorithm is improved. As a result, a robust attitude solution can be performed in a highly efficient manner. In order to verify the effectiveness of the presented algorithm, a set of experiments are carried out, which shows that both the search efficiency and success rate of carrier phase ambiguity resolution are improved. And thus the stability and reliability of attitude determination are enhanced.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117020125","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: 1

Advantages of ECEF-frame based global navigation mechanization for INS/GNSS integrated navigation system 基于ecef框架的INS/GNSS组合导航系统全球导航机械化优势

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405843

L. Feng, S. Li, Y. Liu, Q. Fu

引用次数: 2

Vehicle dynamic model-based integrated navigation system for land vehicles 基于车辆动态模型的陆地车辆综合导航系统

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405846

Yu Zhao, Zhengying Yang, Chuang Song, D. Xiong

{"title":"Vehicle dynamic model-based integrated navigation system for land vehicles","authors":"Yu Zhao, Zhengying Yang, Chuang Song, D. Xiong","doi":"10.23919/ICINS.2018.8405846","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405846","url":null,"abstract":"This paper examines the significant role played by vehicle dynamic model and its impact on the performance increase of inertial navigation systems for land vehicles. The pure inertial navigation system is suffered from the time relevant drifts of all navigation parameters that cannot be chosen as the sole navigation system for the land vehicles. And the complementary role played by the vehicle dynamic model should be studied thoroughly that it can be integrated to an inertial navigation system to compose an autonomous navigation system for land vehicles. This kind of navigation systems take advantage of the vehicle dynamic model to build a navigation filter whose observation information comes from the model outputs. It is concerned that the relationship between the body frame velocity reference information and the observability of the filter error state is vital to the effect of increasing navigation accuracy. According to the observability analysis, a series of land vehicle maneuver trajectories are helpful to increase the observability degree of some error states. Experiments were carried in a close loop trajectory. It is shown from the results that changing land vehicle's attitude angle yaw is helpful for eliminating the estimate errors of the velocity. And the position error can also be compensated after the velocity error is estimated correctly.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127612563","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: 13

On reliability of data transmission and distance estimation using mobile underwater acoustic modems 基于移动水声调制解调器的数据传输和距离估计可靠性研究

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405859

S. Kulik, A. Rodionov, F. Dubrovin, P. Unru

引用次数: 7

Robust IMU/UWB integration for indoor pedestrian navigation 鲁棒IMU/UWB室内行人导航集成

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405844

H. Benzerrouk, A. Nebylov

引用次数: 23

The exact solution of the Bortz approximate equation and construction of the quaternion orientation algorithm of strapdown INS on its basis 在此基础上精确求解了捷联惯导系统的波兹近似方程并构造了四元数定向算法

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405914

A. V. Molodenkov, Y. Sapunkov, T. Molodenkova, S. Perelyaev

引用次数: 4

Monocular visual SLAM algorithm for autonomous vessel sailing in harbor area 港区船舶自主航行的单目SLAM算法

2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-28 DOI: 10.23919/ICINS.2018.8405856

Sh. Wang, Yi Zhang, F. Zhu

{"title":"Monocular visual SLAM algorithm for autonomous vessel sailing in harbor area","authors":"Sh. Wang, Yi Zhang, F. Zhu","doi":"10.23919/ICINS.2018.8405856","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405856","url":null,"abstract":"In recent years, Self-driving technology received extensive attention of the society from all walks of life. The self-driving cars developed by major technology companies in the whole world have been able to drive on the road. At the same time, the concept of autonomous vessel has been proposed in the past few years. Without any prior information, the SLAM (Simultaneous Localization and Mapping) algorithm, comprises the simultaneous estimation of the state of a robot equipped with on-board sensors and the construction of a model (the map) of the environment that the sensors are perceiving, SLAM is becoming one of the most important components of the driverless sensing module. In this paper, the First part introduces the concept of the autonomous vessel, and then discusses its perception module in detail. After that, it summarizes relevant concepts about SLAM algorithms. The Second part, this paper makes a specific analysis of the current two kinds of monocular visual SLAM(V-SLAM) methods and collects the video data in the harbor environment to carry out experiments, then analyzes and records the relevant experimental results. In the third part, through the analysis and comparison of the experimental results, we discussed the possibility of V-SLAM method applied to autonomous vessel, as well as the problems that may arise in the actual process and attempt to propose some prospective solutions.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115541560","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: 9