Pub Date : 2017-05-01DOI: 10.1109/CPGPS.2017.8075111
George Filip, Xiaolin Meng, G. Burnett, C. Harvey
Given the complexities involved in the sensing, navigational and positioning environment on board automated vehicles we conduct an exploratory survey and identify factors capable of influencing the users' trust in such system. After the analysis of the survey data, the Situational Awareness of the Vehicle (SAV) emerges as an important factor capable of influencing the trust of the users. We follow up on that by conducting semi-structured interviews with 12 experts in the CAV field, focusing on the importance of the SAV, on the factors that are most important when talking about it as well as the need to keep the users informed regarding its status. We conclude that in the context of Connected and Automated Vehicles (CAVs), the importance of the SAV can now be expanded beyond its technical necessity of making vehicles function to a human factors area: calibrating users' trust.
{"title":"Human factors considerations for cooperative positioning using positioning, navigational and sensor feedback to calibrate trust in CAVs","authors":"George Filip, Xiaolin Meng, G. Burnett, C. Harvey","doi":"10.1109/CPGPS.2017.8075111","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075111","url":null,"abstract":"Given the complexities involved in the sensing, navigational and positioning environment on board automated vehicles we conduct an exploratory survey and identify factors capable of influencing the users' trust in such system. After the analysis of the survey data, the Situational Awareness of the Vehicle (SAV) emerges as an important factor capable of influencing the trust of the users. We follow up on that by conducting semi-structured interviews with 12 experts in the CAV field, focusing on the importance of the SAV, on the factors that are most important when talking about it as well as the need to keep the users informed regarding its status. We conclude that in the context of Connected and Automated Vehicles (CAVs), the importance of the SAV can now be expanded beyond its technical necessity of making vehicles function to a human factors area: calibrating users' trust.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128880578","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075101
Jia Luo, F. Sun, Xiaohua Xu
In this paper, we present a comparison between the ionospheric peak parameters (NmF2 and hmF2) derived from the Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) radio occultation (RO) data and that derived from observations of ionosondes which are located in geomagnetic equatorial regions under geomagnetic disturbed conditions. In order to carry out a statistic analysis over large sample sizes, all matched pairs from COSMIC and 11 ionosonde stations between April 2006 and December 2016 under geomagnetic disturbed conditions with Kp index >3+ are studied at first. Our results demonstrate high correlations of F2 layer peak parameters obtained from the two techniques and the correlation of NmF2 is better than hmF2. We further classify the matched pairs into three groups corresponding to Kp =4, Kp=5, and Kp>=6−. It is found that as the intensity of geomagnetic activities increases, the correlation of NmF2 derived from the two techniques decreases and the relative difference of NmF2 between COSMIC and ionosondes increases. COSMIC tends to underestimate NmF2 and the amount of the underestimation increases with the increased intensity of geomagnetic activities whereas hmF2 derived from COSMIC RO are usually higher than ionosonde ones.
{"title":"Comparison of the ionospheric peak parameters retrieved from COSMIC RO and ionosondes under geomagnetic disturbed conditions","authors":"Jia Luo, F. Sun, Xiaohua Xu","doi":"10.1109/CPGPS.2017.8075101","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075101","url":null,"abstract":"In this paper, we present a comparison between the ionospheric peak parameters (NmF2 and hmF2) derived from the Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) radio occultation (RO) data and that derived from observations of ionosondes which are located in geomagnetic equatorial regions under geomagnetic disturbed conditions. In order to carry out a statistic analysis over large sample sizes, all matched pairs from COSMIC and 11 ionosonde stations between April 2006 and December 2016 under geomagnetic disturbed conditions with Kp index >3+ are studied at first. Our results demonstrate high correlations of F2 layer peak parameters obtained from the two techniques and the correlation of NmF2 is better than hmF2. We further classify the matched pairs into three groups corresponding to Kp =4, Kp=5, and Kp>=6−. It is found that as the intensity of geomagnetic activities increases, the correlation of NmF2 derived from the two techniques decreases and the relative difference of NmF2 between COSMIC and ionosondes increases. COSMIC tends to underestimate NmF2 and the amount of the underestimation increases with the increased intensity of geomagnetic activities whereas hmF2 derived from COSMIC RO are usually higher than ionosonde ones.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133782078","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075140
N. Gopaul, Jianguo Wang, Baoxin Hu
This paper presents an algorithm for processing pairwise time-correlated measurements in a Kalman filter where the measurement vector at an epoch is correlated only with the measurement vector at the epoch before. Time-correlated errors are usually modelled by a shaping filter, which is here realized using Cholesky factors as coefficients derived from the variance and covariance matrices of the measurement noise vectors. Results with the simulated data show that the proposed approach performs better than the existing ones and provides more realistic covariance estimates. Furthermore, the proposed algorithm was applied to visual odometry aided-INS and the results show an improvement of 7% in the position drifts in comparison with the conventional shaping filter.
{"title":"Loosely coupled visual odometry aided inertial navigation system using discrete extended Kalman filter with pairwise time correlated measurements","authors":"N. Gopaul, Jianguo Wang, Baoxin Hu","doi":"10.1109/CPGPS.2017.8075140","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075140","url":null,"abstract":"This paper presents an algorithm for processing pairwise time-correlated measurements in a Kalman filter where the measurement vector at an epoch is correlated only with the measurement vector at the epoch before. Time-correlated errors are usually modelled by a shaping filter, which is here realized using Cholesky factors as coefficients derived from the variance and covariance matrices of the measurement noise vectors. Results with the simulated data show that the proposed approach performs better than the existing ones and provides more realistic covariance estimates. Furthermore, the proposed algorithm was applied to visual odometry aided-INS and the results show an improvement of 7% in the position drifts in comparison with the conventional shaping filter.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133272880","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075088
Dai Hai-fa, Ma Heng, Bian Hong-wei, Wan Rong-ying
Based on the problem of the difficulty to set up the precise models for the information fuse method which bases on the Kalman filters, a new method based on the autoregression (AR) model is put forward in this paper. This method is one of the time series analysis methods, which uses the temporal correlation between the errors data to set up the AR model, and then the estimation results are utilized to fuse the location information; To detect and isolate the information fault timely, this paper suggests the fault detection and isolation method based on maximum solution separation; Finally, the feasibility of the algorithm is verified by the data collected from the actual sensors.
{"title":"Adaptive multi-position sensor information fusion method based on AR model","authors":"Dai Hai-fa, Ma Heng, Bian Hong-wei, Wan Rong-ying","doi":"10.1109/CPGPS.2017.8075088","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075088","url":null,"abstract":"Based on the problem of the difficulty to set up the precise models for the information fuse method which bases on the Kalman filters, a new method based on the autoregression (AR) model is put forward in this paper. This method is one of the time series analysis methods, which uses the temporal correlation between the errors data to set up the AR model, and then the estimation results are utilized to fuse the location information; To detect and isolate the information fault timely, this paper suggests the fault detection and isolation method based on maximum solution separation; Finally, the feasibility of the algorithm is verified by the data collected from the actual sensors.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129791005","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075151
Zhenjun Zhang, X. Zhan, Yan-hua Zhang
Spoofing is a great threat to GNSS (Global Navigation Satellite System) based applications. Many effective spoofing detection methods have been proposed, while few effort is paid to spoofing localization, which is of equally importance. GNSS interference localization is mainly based on TDOA (Time Difference of Arrival) estimations and one widely adopted method to measure the TDOA is based on signal cross-correlation. This paper proposes a differential code phase (DCP) based technique to estimate the spoofing TDOA. The TDOA is estimated as the ratio between DCP and spoofing code frequency. The DCP based TDOA model and its estimation error model are mathematically formulated. Also, the performance comparison between the DCP based and the widely used cross-correlation based TDOA techniques is conducted based on simulation results. Results show the DCP based method can be more accurate in TDOA estimation.
欺骗是全球卫星导航系统(GNSS)应用的一大威胁。人们提出了许多有效的欺骗检测方法，但对欺骗定位的研究却很少，而欺骗定位同样重要。GNSS干扰定位主要基于TDOA (Time Difference of Arrival)估计，目前广泛采用的一种测量TDOA的方法是基于信号互相关。提出了一种基于差分码相位(DCP)的欺骗TDOA估计方法。TDOA估计为DCP与欺骗码频率之比。建立了基于DCP的TDOA模型及其估计误差模型。在仿真结果的基础上，对基于DCP的TDOA技术和广泛应用的基于互相关的TDOA技术进行了性能比较。结果表明，基于DCP的方法可以更准确地估计TDOA。
{"title":"GNSS spoofing localization based on differential code phase","authors":"Zhenjun Zhang, X. Zhan, Yan-hua Zhang","doi":"10.1109/CPGPS.2017.8075151","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075151","url":null,"abstract":"Spoofing is a great threat to GNSS (Global Navigation Satellite System) based applications. Many effective spoofing detection methods have been proposed, while few effort is paid to spoofing localization, which is of equally importance. GNSS interference localization is mainly based on TDOA (Time Difference of Arrival) estimations and one widely adopted method to measure the TDOA is based on signal cross-correlation. This paper proposes a differential code phase (DCP) based technique to estimate the spoofing TDOA. The TDOA is estimated as the ratio between DCP and spoofing code frequency. The DCP based TDOA model and its estimation error model are mathematically formulated. Also, the performance comparison between the DCP based and the widely used cross-correlation based TDOA techniques is conducted based on simulation results. Results show the DCP based method can be more accurate in TDOA estimation.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121075439","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075093
Chang Jiachong, Duan Dezhi, Yu Fei, Zhang Ya, Fan Shiwei
The system error parameters of fiber optic gyroscope inertial measurement unit (FOG-IMU) may change due to various disturbances, especially when the ship is in long-term sailing. Therefore, the independent online calibration is particularly important. In this paper, a swing online calibration method is designed, making full use of the swing motion caused by the waves on the sea, and the system parameters of the inertial device are calibrated in real time. First, the model of the inertial device is established. Then the Kalman filter based state equation and observation equation are determined. Finally, system error parameters are estimated and compensated according to the ship swing calibration path. The calibration errors are updated as well. At this time, the system parameters can be calibrated and iterated repeatedly. So the filter updates the data once again to improve the navigation accuracy, which makes it possible to recalibrate the FOG-IMU without disassembling the inertial device.
{"title":"A swing online calibration method of ship-based FOG-IMU","authors":"Chang Jiachong, Duan Dezhi, Yu Fei, Zhang Ya, Fan Shiwei","doi":"10.1109/CPGPS.2017.8075093","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075093","url":null,"abstract":"The system error parameters of fiber optic gyroscope inertial measurement unit (FOG-IMU) may change due to various disturbances, especially when the ship is in long-term sailing. Therefore, the independent online calibration is particularly important. In this paper, a swing online calibration method is designed, making full use of the swing motion caused by the waves on the sea, and the system parameters of the inertial device are calibrated in real time. First, the model of the inertial device is established. Then the Kalman filter based state equation and observation equation are determined. Finally, system error parameters are estimated and compensated according to the ship swing calibration path. The calibration errors are updated as well. At this time, the system parameters can be calibrated and iterated repeatedly. So the filter updates the data once again to improve the navigation accuracy, which makes it possible to recalibrate the FOG-IMU without disassembling the inertial device.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132193442","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075136
Gao Yuting, Wang Li, Zhang Qin, Huang Guanwen, Xue Kang
Four new BDS II satellites have been launched which are named C31 (IGSO), C32 (IGSO), C33 (MEO) and C34 (MEO) separately. Their data qualities would affect the process of BDS globalization directly. In order to analyze the observation data quality of new navigation satellites, four indexes have been processed which contain data integrity rate, multipath, signal-to-noise ratio (SNR) and cycle slip ratio. The OBSQC software was developed to process the iGMAS data from September 8, 2016 to October 8, 2016. The experiment results show that the B1 and B3 data integrity rates of new navigation satellites are better than 95%. The SNR results of the new IGSO satellites are better than that of the IGSO working satellites while the SNR results of the new MEO satellites are quite similar to that of the MEO working satellites. In addition, the SNR values of the MEO satellites are better than that of the GPS MEO satellites. As for the multipath error, the results of the new navigation satellites are slightly better than that of the BDS working satellites and the GPS satellites.
{"title":"Quality analysis of observation data of the new Beidou II navigation satellites","authors":"Gao Yuting, Wang Li, Zhang Qin, Huang Guanwen, Xue Kang","doi":"10.1109/CPGPS.2017.8075136","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075136","url":null,"abstract":"Four new BDS II satellites have been launched which are named C31 (IGSO), C32 (IGSO), C33 (MEO) and C34 (MEO) separately. Their data qualities would affect the process of BDS globalization directly. In order to analyze the observation data quality of new navigation satellites, four indexes have been processed which contain data integrity rate, multipath, signal-to-noise ratio (SNR) and cycle slip ratio. The OBSQC software was developed to process the iGMAS data from September 8, 2016 to October 8, 2016. The experiment results show that the B1 and B3 data integrity rates of new navigation satellites are better than 95%. The SNR results of the new IGSO satellites are better than that of the IGSO working satellites while the SNR results of the new MEO satellites are quite similar to that of the MEO working satellites. In addition, the SNR values of the MEO satellites are better than that of the GPS MEO satellites. As for the multipath error, the results of the new navigation satellites are slightly better than that of the BDS working satellites and the GPS satellites.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124386579","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075106
Dingjie Xu, Sida Chen, F. Shen, Guochen Wang, Yue Zhang
Acquisition and reacquisition relate to GNSS receiver performance directly. In many environments we need faster acquisition. So we design a sparse fast Fourier transform algorithm that can be used in satellite signal receiver. This algorithm mainly includes three steps. To begin with, we use window function to filter signal. Moreover, we hash Fourier coefficients to different “frequency bucket”. Perform location and valuation estimating at last. Using this algorithm we can calculate k maximum Fourier coefficients quickly. This algorithm has simple structure and run time is sub-linear compared with signal length. According to the characteristic we designed an acquisition method using SFFT to replace normal FFT. Finally, simulation result shows that the algorithm can substantially reduce complex computation under normal signal noise ratio.
{"title":"A fast acquisition algorithm of GNSS receiver based on SFFT","authors":"Dingjie Xu, Sida Chen, F. Shen, Guochen Wang, Yue Zhang","doi":"10.1109/CPGPS.2017.8075106","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075106","url":null,"abstract":"Acquisition and reacquisition relate to GNSS receiver performance directly. In many environments we need faster acquisition. So we design a sparse fast Fourier transform algorithm that can be used in satellite signal receiver. This algorithm mainly includes three steps. To begin with, we use window function to filter signal. Moreover, we hash Fourier coefficients to different “frequency bucket”. Perform location and valuation estimating at last. Using this algorithm we can calculate k maximum Fourier coefficients quickly. This algorithm has simple structure and run time is sub-linear compared with signal length. According to the characteristic we designed an acquisition method using SFFT to replace normal FFT. Finally, simulation result shows that the algorithm can substantially reduce complex computation under normal signal noise ratio.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116587813","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075152
Lang Qin, Qianqian Zhang
A new algorithm for multiple satellite faults detection and exclusion is proposed based on the prediction theories of time series analysis. Firstly, the observations of each satellite are modeled by an autoregressive moving average (ARMA). The model above is equivalent to a filter, which can reduce the noise errors of the observations and finally can enhance the identification ability of the algorithm in small faults. Secondly, based on the model, the test statistic is established by using the statistical characteristic of the prediction residual. If the prediction error in some epoch deviates from its normal range, we conclude that the observation in this epoch contains fault. Thirdly, in order to evaluate the performance of the algorithm objectively, a method for computing the exact probabilities of missed detection is designed so that a quantitative analysis method is proposed for the evaluation of the new algorithm. Finally, we validate the effects of the new algorithm by the users in the global range under the four constellations of BDS, GPS, Galileo and GLONASS. It is shown that the algorithms proposed by this paper can handle the isolated fault or the multiple faults under the single or multiple constellations.
{"title":"New algorithm for multiple satellite faults detection and exclusion based on time series prediction","authors":"Lang Qin, Qianqian Zhang","doi":"10.1109/CPGPS.2017.8075152","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075152","url":null,"abstract":"A new algorithm for multiple satellite faults detection and exclusion is proposed based on the prediction theories of time series analysis. Firstly, the observations of each satellite are modeled by an autoregressive moving average (ARMA). The model above is equivalent to a filter, which can reduce the noise errors of the observations and finally can enhance the identification ability of the algorithm in small faults. Secondly, based on the model, the test statistic is established by using the statistical characteristic of the prediction residual. If the prediction error in some epoch deviates from its normal range, we conclude that the observation in this epoch contains fault. Thirdly, in order to evaluate the performance of the algorithm objectively, a method for computing the exact probabilities of missed detection is designed so that a quantitative analysis method is proposed for the evaluation of the new algorithm. Finally, we validate the effects of the new algorithm by the users in the global range under the four constellations of BDS, GPS, Galileo and GLONASS. It is shown that the algorithms proposed by this paper can handle the isolated fault or the multiple faults under the single or multiple constellations.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123215897","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075139
Haobo Li, Jian Wang, Shida Wang, Xixiang Liu
The SINS initial alignment with large initial misalignment angles often causes alignment failures when using the standard Kalman filter (KF). In this study, an adaptive alignment method of multi-resetting the state covariance matrix of simplified Sage-Husa adaptive filter was proposed. This method can not only raise its efficiency and adaptability, but also solve the nonlinear problems brought by large initial misalignment angles. The comparison among the proposed method, the standard KF and the standard KF with parameters resetting was conducted in the same simulating circumstances. The results indicate that, compared with the conventional alignment method, the proposed method can highly shorten the alignment time for over 50% and improve the attitude precision of large initial misalignment angles by 0.1143 degree, which can be as precise as small misalignment angles.
{"title":"A method for SINS initial alignment of large misalignment angles based on simplified sage-husa filter with parameters resetting","authors":"Haobo Li, Jian Wang, Shida Wang, Xixiang Liu","doi":"10.1109/CPGPS.2017.8075139","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075139","url":null,"abstract":"The SINS initial alignment with large initial misalignment angles often causes alignment failures when using the standard Kalman filter (KF). In this study, an adaptive alignment method of multi-resetting the state covariance matrix of simplified Sage-Husa adaptive filter was proposed. This method can not only raise its efficiency and adaptability, but also solve the nonlinear problems brought by large initial misalignment angles. The comparison among the proposed method, the standard KF and the standard KF with parameters resetting was conducted in the same simulating circumstances. The results indicate that, compared with the conventional alignment method, the proposed method can highly shorten the alignment time for over 50% and improve the attitude precision of large initial misalignment angles by 0.1143 degree, which can be as precise as small misalignment angles.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123721939","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}
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