Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9134006
Xin Lin, Zhan-Qing Wang, Xudong Chen
Path planning is one of the key research directions in the field of mobile robots. It ensures that moving objects can reach the target point safely and without collision in a complex obstacle environment. The path planning is to search an optimal path from the starting point to the target point for the mobile robot in an environment with obstacles, according to certain evaluation criteria (such as the time, the best path, the minimum energy consumption, etc.). The path planning based on artificial potential field method has been paid more and more attention because of its advantages such as convenient calculation, simple implementation of hardware and outstanding real-time performance. However, the artificial potential field method has some limitations, such as the local minimum, the oscillation of moving objects among obstacles and so on. To solve these problems, we can introduce the idea of decision tree into the artificial potential field method for improvement. In machine learning, decision tree is usually used for classification. It is a prediction model, which represents a mapping relationship between object attributes and object values. By utilizing the advantages of decision tree in rule expression and extraction, an improved artificial potential field path planning model based on decision tree is constructed, which can realize real-time and accurate identification of current behavior and fast decision-making of next time behavior in path planning. Aiming at the dynamic path planning problem of mobile robots in indoor complex environment, based on the traditional artificial potential field method, this paper introduces the distance term into the potential field function, and proposes an improved artificial potential field method based on the idea of decision tree, to solve the local minimum, the oscillation between obstacles and concave obstacle problems. According to repulsion coefficient, deflection angle of resultant force and velocity, a reasonable classification decision is made to meet the needs of different obstacle distribution scenarios, and the effectiveness of the proposed method is verified by simulation experiments. Simulation results show that, compared with the traditional artificial potential field method, the planning time of improved algorithm is reduced by 50%, and the smoothness of path planning by the improved algorithm is increased by 43.3%.
{"title":"Path Planning with Improved Artificial Potential Field Method Based on Decision Tree","authors":"Xin Lin, Zhan-Qing Wang, Xudong Chen","doi":"10.23919/icins43215.2020.9134006","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134006","url":null,"abstract":"Path planning is one of the key research directions in the field of mobile robots. It ensures that moving objects can reach the target point safely and without collision in a complex obstacle environment. The path planning is to search an optimal path from the starting point to the target point for the mobile robot in an environment with obstacles, according to certain evaluation criteria (such as the time, the best path, the minimum energy consumption, etc.). The path planning based on artificial potential field method has been paid more and more attention because of its advantages such as convenient calculation, simple implementation of hardware and outstanding real-time performance. However, the artificial potential field method has some limitations, such as the local minimum, the oscillation of moving objects among obstacles and so on. To solve these problems, we can introduce the idea of decision tree into the artificial potential field method for improvement. In machine learning, decision tree is usually used for classification. It is a prediction model, which represents a mapping relationship between object attributes and object values. By utilizing the advantages of decision tree in rule expression and extraction, an improved artificial potential field path planning model based on decision tree is constructed, which can realize real-time and accurate identification of current behavior and fast decision-making of next time behavior in path planning. Aiming at the dynamic path planning problem of mobile robots in indoor complex environment, based on the traditional artificial potential field method, this paper introduces the distance term into the potential field function, and proposes an improved artificial potential field method based on the idea of decision tree, to solve the local minimum, the oscillation between obstacles and concave obstacle problems. According to repulsion coefficient, deflection angle of resultant force and velocity, a reasonable classification decision is made to meet the needs of different obstacle distribution scenarios, and the effectiveness of the proposed method is verified by simulation experiments. Simulation results show that, compared with the traditional artificial potential field method, the planning time of improved algorithm is reduced by 50%, and the smoothness of path planning by the improved algorithm is increased by 43.3%.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129232936","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133923
E. Mikrin, I. V. Orlovskii, I. A. Krasnopol’skii, M. Mikhailov, S. Rozhkov
The paper reviews a possible lunar mission architecture, where lunar modules are integrated on the lunar Orbital Station (OS), placed in a high lunar orbit (HLO). It discusses the concept of transfers from HLO to an intermediate low lunar orbit (LLO), transfer to a descent orbit, landing at a designated point on the Moon, and return to the OS. An approach was defined, and algorithms were determined and run in simulations for rough and fine control during various phases of the flight. An approach was defined for implementing propellant consumption-optimized descent from LLO to the designated landing target, the lowest possible value for the braking burn required for the descent was defined. Algorithms were developed for quasi-optimal descent during braking phase using measurements from lunar navigation satellites, with the braking burn value which is close to the optimal landing. Relationship between the braking burn and the ratio of the engine thrust to the mass of the Lunar Ascent/Descent Vehicle (LADV) was studied. Relationship between the braking burn of the quasi-optimal landing and the ratio of the engine thrust to the mass of LADV was studied. An approach to and control algorithms for providing operator support for lunar landing were developed, which provide the capability to visually asses the suitability of the landing target from the standpoint of landing safety and, if need be, the ability for the operator to intervene into the control process in order to move the landing target to a safer site.
{"title":"Propellant Consumption-Optimized Lunar Landing Using Signals from Circumlunar Satellite Navigation","authors":"E. Mikrin, I. V. Orlovskii, I. A. Krasnopol’skii, M. Mikhailov, S. Rozhkov","doi":"10.23919/icins43215.2020.9133923","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133923","url":null,"abstract":"The paper reviews a possible lunar mission architecture, where lunar modules are integrated on the lunar Orbital Station (OS), placed in a high lunar orbit (HLO). It discusses the concept of transfers from HLO to an intermediate low lunar orbit (LLO), transfer to a descent orbit, landing at a designated point on the Moon, and return to the OS. An approach was defined, and algorithms were determined and run in simulations for rough and fine control during various phases of the flight. An approach was defined for implementing propellant consumption-optimized descent from LLO to the designated landing target, the lowest possible value for the braking burn required for the descent was defined. Algorithms were developed for quasi-optimal descent during braking phase using measurements from lunar navigation satellites, with the braking burn value which is close to the optimal landing. Relationship between the braking burn and the ratio of the engine thrust to the mass of the Lunar Ascent/Descent Vehicle (LADV) was studied. Relationship between the braking burn of the quasi-optimal landing and the ratio of the engine thrust to the mass of LADV was studied. An approach to and control algorithms for providing operator support for lunar landing were developed, which provide the capability to visually asses the suitability of the landing target from the standpoint of landing safety and, if need be, the ability for the operator to intervene into the control process in order to move the landing target to a safer site.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127225188","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133743
A. Motorin, O. Stepanov, D. Koshaev, A. Krasnov, A. Sokolov
Paper presents the results of real data gravimetric survey processing, which makes possible to evaluate the efficiency of using high-precision satellite measurements in marine surveys. The results are also compared with predicted ones, which were previously obtained by simulation.
{"title":"Using High-Precision Satellite Measurements to Solve the Problem of Marine Gravimetric Surveys","authors":"A. Motorin, O. Stepanov, D. Koshaev, A. Krasnov, A. Sokolov","doi":"10.23919/icins43215.2020.9133743","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133743","url":null,"abstract":"Paper presents the results of real data gravimetric survey processing, which makes possible to evaluate the efficiency of using high-precision satellite measurements in marine surveys. The results are also compared with predicted ones, which were previously obtained by simulation.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133066142","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133902
Y. Deng, G. Yan, X. K. Yang
Multiple sensors in distributed attitude systems can be installed in different parts of the carrier, providing more information and introducing errors. Compared with the traditional attitude system, the common error sources of distributed attitude system sensors are installation error and inner lever arm error. In order to improve this problem, the installation error and inertial lever errors of distributed attitude system are analyzed and modeled. Simulation results are given. The results show that the installation error and the inner lever arm error have a great influence on the accuracy, which must be paid attention to in the practical application.
{"title":"Research on Distributed Attitude System Based on MEMS Inertial Sensor Network","authors":"Y. Deng, G. Yan, X. K. Yang","doi":"10.23919/icins43215.2020.9133902","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133902","url":null,"abstract":"Multiple sensors in distributed attitude systems can be installed in different parts of the carrier, providing more information and introducing errors. Compared with the traditional attitude system, the common error sources of distributed attitude system sensors are installation error and inner lever arm error. In order to improve this problem, the installation error and inertial lever errors of distributed attitude system are analyzed and modeled. Simulation results are given. The results show that the installation error and the inner lever arm error have a great influence on the accuracy, which must be paid attention to in the practical application.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133125956","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133990
V. Pudlovsky
The advantages of navigation solution based on the signals from three GNSS satellites and using the frequency standard in receiving equipment are discussed. The possibility of obtaining navigation solution when using the extended Kalman filter algorithm without predicting the receiver clock and receiving only three GNSS signals for several tens of minutes is shown as possible only for a highly stable reference oscillator.
{"title":"The Advantages of Using Highly Stable Reference Oscillators in the Receiving Equipment of GNSS Signals","authors":"V. Pudlovsky","doi":"10.23919/icins43215.2020.9133990","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133990","url":null,"abstract":"The advantages of navigation solution based on the signals from three GNSS satellites and using the frequency standard in receiving equipment are discussed. The possibility of obtaining navigation solution when using the extended Kalman filter algorithm without predicting the receiver clock and receiving only three GNSS signals for several tens of minutes is shown as possible only for a highly stable reference oscillator.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133415442","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133871
H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov
This paper addresses the results showing the expanded use or improvement of the accuracy, availability, and/or integrity performance of multisensory navigation systems. In addition, Processing algorithms and methods for multisensory systems are significantly improved when noises are non-Gaussian. In the literature, different modified linear and nonlinear Kalman filters (KFs) were derived under the Gaussian assumption and the well-known minimum mean square error (MMSE) criterion. In order to improve their robustness with respect to impulsive non-Gaussian noises, different algorithms and techniques based on Gaussian sum filtering, Huber based estimators and recently introduced maximum Correntropy criterion (MCC) have recently been used to counter the weakness of the MMSE criterion in developing different versions of robust Kalman filters.
{"title":"Robust INS/GPS Coupled Navigation Based on Minimum Error Entropy Kalman Filtering","authors":"H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov","doi":"10.23919/icins43215.2020.9133871","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133871","url":null,"abstract":"This paper addresses the results showing the expanded use or improvement of the accuracy, availability, and/or integrity performance of multisensory navigation systems. In addition, Processing algorithms and methods for multisensory systems are significantly improved when noises are non-Gaussian. In the literature, different modified linear and nonlinear Kalman filters (KFs) were derived under the Gaussian assumption and the well-known minimum mean square error (MMSE) criterion. In order to improve their robustness with respect to impulsive non-Gaussian noises, different algorithms and techniques based on Gaussian sum filtering, Huber based estimators and recently introduced maximum Correntropy criterion (MCC) have recently been used to counter the weakness of the MMSE criterion in developing different versions of robust Kalman filters.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131947295","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133817
E. Kharin, A. Yakushev, O. Mordvinov, Vladivir Kopelovitch, L. Lovitskiy, I. Kopylov, S. Pushkov
The paper deals with the conditions, methods, and support facilities for aircraft certification tests. Given as an example is determination of aerodynamic errors in altitude and speed measurements taken onboard Il-78M-90A aircraft.
{"title":"Certification Flight Test Methods for Pilot and Navigation Systems Using the Integrated System Based on Satellite Technologies","authors":"E. Kharin, A. Yakushev, O. Mordvinov, Vladivir Kopelovitch, L. Lovitskiy, I. Kopylov, S. Pushkov","doi":"10.23919/icins43215.2020.9133817","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133817","url":null,"abstract":"The paper deals with the conditions, methods, and support facilities for aircraft certification tests. Given as an example is determination of aerodynamic errors in altitude and speed measurements taken onboard Il-78M-90A aircraft.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129218099","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133976
H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov
This paper addresses an original problem of integrated navigation system INS/GPS in urban environment when LOS/NLOS measurement could be mixed and sequentially available. To solve this problem, multiple Kalman filtering algorithms were investigated and tested on a real designed platform called: nanoiBB, which is an integrated navigation and recording system developed by LASSENA laboratory in ETS-Montreal. With IMU 9DOF and GPS receiver, Loosely and Tightly coupled approach were implemented and compared for long duration navigation in the city of Montreal, in Obstructed and Unobstructed areas, when experimental data collected from four (04) iBB systems were used to analyze and validate loosely/tightly coupled Information Fusion method for INS/GPS integrated system. To achieve that, different scenarios and observability conditions were assumed and then implemented in different Kalman filtering frameworks in post processing; to achieve the best NLOS detection, Fisheye camera view was selected to detect NLOS regions and select the best adaptive or robust nonlinear filters for loosely/tightly integration. It is important to mention that there is no rejection of satellites, instead, adaptive fading factors and Hinfinity versions of Gauss quadrature Kalman filters was designed and applied. During the tests, micro-iBB integrated navigation systems and recorders have demonstrated good performances using EKF/UKF, then with much higher efficiency when using High degree Cubature Kalman filters. It was found that it is a good candidate for driving assessment and data recording systems, in real time and post processing data analysis for event emergency detection even in dense urban environment.
{"title":"Novel INS/GPS/Fisheye-Camera Loosely/Tightly Coupled Enhancing Robust Navigation in Dense Urban Environment","authors":"H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov","doi":"10.23919/icins43215.2020.9133976","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133976","url":null,"abstract":"This paper addresses an original problem of integrated navigation system INS/GPS in urban environment when LOS/NLOS measurement could be mixed and sequentially available. To solve this problem, multiple Kalman filtering algorithms were investigated and tested on a real designed platform called: nanoiBB, which is an integrated navigation and recording system developed by LASSENA laboratory in ETS-Montreal. With IMU 9DOF and GPS receiver, Loosely and Tightly coupled approach were implemented and compared for long duration navigation in the city of Montreal, in Obstructed and Unobstructed areas, when experimental data collected from four (04) iBB systems were used to analyze and validate loosely/tightly coupled Information Fusion method for INS/GPS integrated system. To achieve that, different scenarios and observability conditions were assumed and then implemented in different Kalman filtering frameworks in post processing; to achieve the best NLOS detection, Fisheye camera view was selected to detect NLOS regions and select the best adaptive or robust nonlinear filters for loosely/tightly integration. It is important to mention that there is no rejection of satellites, instead, adaptive fading factors and Hinfinity versions of Gauss quadrature Kalman filters was designed and applied. During the tests, micro-iBB integrated navigation systems and recorders have demonstrated good performances using EKF/UKF, then with much higher efficiency when using High degree Cubature Kalman filters. It was found that it is a good candidate for driving assessment and data recording systems, in real time and post processing data analysis for event emergency detection even in dense urban environment.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115667186","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133890
S. Perelyaev, S. B. Bodunov, V. Zhuravlev, B. P. Bodunov
Some fundamental issues of the Generalized Foucault Pendulum (GFP) theory are shown. The basic physical effect inherent in this gyro family is described and general ways of controlling their phase state are formed. The problems of the operational stability are considered and calibration equations are deduced. The applied aspects of the Generalized Foucault pendulum theory implementation in precision gyro sensors and specified embodiments of modern hemispherical resonator gyros for low-speed and high-speed objects of air-space applications are presented.
{"title":"New Gyroscopes of the “Generalized Foucault Pendulum” Family: Some Fundamental Issues of Theory and Applied Aspects of Its Implementation in the Engineering Practice of Modern Gyroscopy","authors":"S. Perelyaev, S. B. Bodunov, V. Zhuravlev, B. P. Bodunov","doi":"10.23919/icins43215.2020.9133890","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133890","url":null,"abstract":"Some fundamental issues of the Generalized Foucault Pendulum (GFP) theory are shown. The basic physical effect inherent in this gyro family is described and general ways of controlling their phase state are formed. The problems of the operational stability are considered and calibration equations are deduced. The applied aspects of the Generalized Foucault pendulum theory implementation in precision gyro sensors and specified embodiments of modern hemispherical resonator gyros for low-speed and high-speed objects of air-space applications are presented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126968028","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}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133853
J. Ren, J. Zi, H. Y. Guan, J. Li
For the strong nonlinearity of ultra-tightly coupled INS/GPS navigation system, this paper present to use the unscented particle filter (UPF) for integration system. The nonlinear measurement equation can be constructed by including the second-order term in the Taylor series of the pseudorange measurements. At the same time, the UPF algorithm is simplified, which greatly reduces the computational complexity caused by a large number of UT transformations. The experimental results indicated that the UPF-based ultra-tight INS/GPS integration system can effectively overcome the nonlinear error, and has higher signal tracking performance and navigation performance in highly dynamic and strong interference environments.
{"title":"Design of an Ultra-Tightly Coupled Integrated INS/GPS Navigation System Based on UPF","authors":"J. Ren, J. Zi, H. Y. Guan, J. Li","doi":"10.23919/icins43215.2020.9133853","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133853","url":null,"abstract":"For the strong nonlinearity of ultra-tightly coupled INS/GPS navigation system, this paper present to use the unscented particle filter (UPF) for integration system. The nonlinear measurement equation can be constructed by including the second-order term in the Taylor series of the pseudorange measurements. At the same time, the UPF algorithm is simplified, which greatly reduces the computational complexity caused by a large number of UT transformations. The experimental results indicated that the UPF-based ultra-tight INS/GPS integration system can effectively overcome the nonlinear error, and has higher signal tracking performance and navigation performance in highly dynamic and strong interference environments.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126181440","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：