Integrated Navigation Technology Research Articles

Analysis of Integrated Navigation Technology Based on GNSS/UWB

Aiming at the problem that a single positioning system cannot meet the indoor and outdoor high-precision positioning, GNSS/UWB integrated navigation system is proposed. Firstly, this paper introduces the development and research status of the global satellite navigation system; Secondly, The UWB positioning technology in indoor positioning technology is introduced; Finally, the development and research status of GNSS/UWB integrated navigation are introduced. The advantages and disadvantages of the single outdoor or indoor positioning system in the indoor and outdoor integrated navigation system are compared and analyzed. The results show that a single outdoor or indoor positioning system cannot meet the indoor and outdoor high-precision positioning, an effective method of GNSS/UWB fusion positioning is to improve the positioning accuracy and robustness, which can enhance the real-time in time, continuity in space and reliability in accuracy.

A Novel SINS/USBL Tightly Integrated Navigation Strategy Based on Improved ANFIS

Strapdown inertial navigation system (SINS)/ ultra- short baseline (USBL) integrated navigation system is widely used in navigation and positioning of underwater vehicle. In an unknown and complex underwater environment, unstable USBL measurement information can lead to decreased navigation accuracy. In the traditional method, the interference to USBL is uniformly modeled as outliers, but in practice, it is also represented as slowly varying errors, update irregular errors. The latter two errors are not easy to be detected at the beginning of occurrence. Therefore, a SINS/USBL integrated navigation technology based on novel adaptive neural fuzzy inference system (ANFIS) is proposed. This model can detect and compensate abnormal USBL information and maximize USBL information. In order to improve the prediction accuracy of ANFIS, an ANFIS algorithm based on variational Bayesian Kalman filter and principal component analysis (PCA) is proposed to avoid the decrease of positioning accuracy caused by false compensation. The simulation shows that the designed ANFIS algorithm can accurately predict the above anomalies. And it can overcome the problem that USBL measurement anomalies are difficult to be detected at the initial stage. Combined with the proposed integrated navigation technology, it obtain the same positioning accuracy in complex environment as in good environment. The effectiveness and robustness of the proposed method are verified by river experiment.

A New Method to Restrain Schuler Periodic Oscillation in Inertial Navigation System Based on Normal Time–Frequency Transform

The pure inertial navigation system (INS) contains three inherent periodic oscillations, namely, Schuler periodic oscillation (84.4 min), Foucault periodic oscillation and Earth periodic oscillation (24 h), which can decrease the navigation accuracy, especially in long-term and low-velocity applications, such as ships and submarines. This paper applies the inaction method (IM) to restrain Schuler periodic oscillation. Compared to external damping network technology and integrated navigation technology, the IM is more independent, as it does not require auxiliary reference information. The IM is based on the so-called normal time-frequency transform (NTFT), and its uniqueness lies in recognizing and extracting instantaneous amplitude, frequency and phase from a harmonic/quasi-harmonic signal directly and exactly. In this paper, simulation data and experimental data are analyzed, and both show that the IM is effective. Moreover, the calculation results show that IM has wider applicability and higher stability than internal damping network technology and bandpass filtering. Compared to pure INS, the root mean square (RMS) of the velocity error decreases significantly; the RMSs of the latitude and longitude errors decrease as well. The IM can restrain Schuler periodic oscillation, and Foucault periodic oscillation is also restrained. However, the IM has no effect on the divergence of longitude error, and the edge effect is a drawback that needs to be addressed in the future.

Virtual Polar Region Method Based on the Earth’s Transverse Ellipsoid Model

Experimental verification is very important for the research of inertial navigation and integrated navigation technology, but most researchers do not have the opportunity to conduct experiments directly in the polar regions. In order to solve the problem of inertial navigation verification in high latitude areas, a virtual polar region method based on transverse ellipsoid model is proposed. The method converts the reference information, initial state, and inertial sensor data into polar regions based on the transverse geographic coordinate system and can ensure that the attitude, velocity, and altitude information relative to the local-level frame remain unchanged. Therefore, the actual test data in the middle and low latitudes can be reconstructed accurately in the polar region without singularities, trajectory deformation, and principle errors. Simulation and vehicle tests show that the proposed method can achieve the same verification effect as the actual polar experiment.

Vehicular Navigation Based on the Fusion of 3D-RISS and Machine Learning Enhanced Visual Data in Challenging Environments

Based on the 3D Reduced Inertial Sensor System (3D-RISS) and the Machine Learning Enhanced Visual Data (MLEVD), an integrated vehicle navigation system is proposed in this paper. In demanding conditions such as outdoor satellite signal interference and indoor navigation, this work incorporates vehicle smooth navigation. Firstly, a landmark is set up and both of its size and position are accurately measured. Secondly, the image with the landmark information is captured quickly by using the machine learning. Thirdly, the template matching method and the Extended Kalman Filter (EKF) are then used to correct the errors of the Inertial Navigation System (INS), which employs the 3D-RISS to reduce the overall cost and ensuring the vehicular positioning accuracy simultaneously. Finally, both outdoor and indoor experiments are conducted to verify the performance of the 3D-RISS/MLEVD integrated navigation technology. Results reveal that the proposed method can effectively reduce the accumulated error of the INS with time while maintaining the positioning error within a few meters.

Research on the Integrated Navigation Technology of SINS with Couple Odometers for Land Vehicles

Autonomous and accurate acquisition of the position and azimuth of the vehicle is critical to the combat effectiveness of land-fighting vehicles. The integrated navigation system, consisting of a strap-down inertial navigation system (SINS) and odometer (OD), is commonly applied in vehicles. In the SINS/OD integrated system, the odometer is installed around the vehicle’s wheel, while SINS is usually installed on the base of the vehicle. The distance along SINS and OD would cause a velocity difference when the vehicle maneuvers, which may lead to a significant influence on the integration positioning accuracy. Furthermore, SINS navigation errors, especially azimuth error, would diverge over time due to gyro drifts and accelerometer biases. The azimuth error would cause the divergence of dead-reckoning positioning errors with the distance that the vehicle drives. To solve these problems, an integrated positioning and orientation method based on the configuration of SINS and couple odometers was proposed in this paper. The proposed method designed a high precision integrated navigation algorithm, which compensated the lever arm effect to eliminate the velocity difference between SINS and odometers. At the same time, by using the measured information of couple odometers, azimuth reference was calculated and used as an external measurement to suppress SINS azimuth error’s divergence over time, thus could further improve the navigation precision of the integrated system, especially the orientation accuracy. The performance of the proposed method was verified by simulations. The results demonstrated that SINS/2ODs integrated system could achieve a positioning accuracy of 0.01% D (total mileage) and orientation accuracy of ±30″ by using SINS with 0.01°/h Fiber-Optic Gyroscope (FOGs) and 50 µg accelerometers.

Research on Correction Methods of Errors in Multi-beam Sounding Resulted from Water Flow

The multi-beam sounding system combines multi-beam bathymetry and integrated navigation technology, which can obtain underwater topography data quickly and accurately, it has become the most important way of marine investigation. Therefore, it is urgent for improving the accuracy of sounding system in the detection industry. During the study of multi-beam error processing, the installation error coefficient of transducer installation will be corrected, but all the time, the transducer mounting bracket is regarded would be corrected. However, the transducer mounting bracket has been regarded as a rigid body in the correction for a long time. In this paper, the transducer bracket is regarded as a non-rigid body, and the reversible elastic deformation of transducer bracket occurs due to the impact of water flow. With the change of ship speed and water flow velocity, the degree of elastic deformation is also time-varying. The elastic deformation of bracket leads to the deflection of transducer shafting, which can not be corrected when correcting the installation deviation, so that leading to the influence of this error in final sounding results. This paper aims at the fact of deformation of multi-beam bracket caused by the water flow velocity, ship speed etc., leading to the deflection of transducer relative to the deviation of inertial navigation system shafting and resulting in attitude deviation which affect accuracy of result is researched.

Application of SINS/DGPS integrated navigation technology in unmanned mining vehicles

The continuous development of driverless technology has provided more possibilities for the expansion of unmanned operation. In this paper, the SINS/DGPS integrated navigation system is used in the unmanned mining vehicle, and its combination mode and working mechanism are expounded. The equations and observation equations of the combined navigation filter system are derived. The measurement residual error checking algorithm is designed to eliminate DGPS Gross error. At the end of the paper, the correctness of the combined system is verified on the simulation platform, and the robustness is better.

Mobile Robot Indoor Positioning Based on a Combination of Visual and Inertial Sensors.

Multi-sensor integrated navigation technology has been applied to the indoor navigation and positioning of robots. For the problems of a low navigation accuracy and error accumulation, for mobile robots with a single sensor, an indoor mobile robot positioning method based on a visual and inertial sensor combination is presented in this paper. First, the visual sensor (Kinect) is used to obtain the color image and the depth image, and feature matching is performed by the improved scale-invariant feature transform (SIFT) algorithm. Then, the absolute orientation algorithm is used to calculate the rotation matrix and translation vector of a robot in two consecutive frames of images. An inertial measurement unit (IMU) has the advantages of high frequency updating and rapid, accurate positioning, and can compensate for the Kinect speed and lack of precision. Three-dimensional data, such as acceleration, angular velocity, magnetic field strength, and temperature data, can be obtained in real-time with an IMU. The data obtained by the visual sensor is loosely combined with that obtained by the IMU, that is, the differences in the positions and attitudes of the two sensor outputs are optimally combined by the adaptive fade-out extended Kalman filter to estimate the errors. Finally, several experiments show that this method can significantly improve the accuracy of the indoor positioning of the mobile robots based on the visual and inertial sensors.

Research on Real Time ICP Algorithm for Geomagnetic Matching Simulation

The application of geomagnetic field to auxiliary matching navigation is a new direction in the research field of integrated navigation technology. This technology provides a new means for passive location of underwater submersible. The nearest point iterative method is one of the important matching navigation algorithms, but it has some disadvantages such as low real-time performance and slow search speed. Considering the above two shortcomings, we adopt the fixed initial sequence length to improve the sampling structure and deduce the single point iteration formula. Meanwhile, we use sliding window search to narrow the search area and speed up the algorithm, and finally realize the real-time ICP algorithm design. Based on the MATLAB platform, we realized the real-time ICP algorithm geomagnetic matching simulation experiment. The simulation system first used a large area of aeromagnetic anomaly data to build geomagnetic map for matching and positioning experiment. Then the inertial / geomagnetic integrated navigation system is used to experiment on the small area geomagnetic map of self-test, and the simulation results are better.

Researching on the Adaptability Technology of Substation Inspection Robot to the Substation’s Complex Environments

The four arms crawler substation inspection robot system was developed, using the integrated navigation technology including laser and odometer, then the robot can run free without the limitation of the road environment and the fixed track; using the image enhancement technology in the complicated environment, improve automatically detecting identification accuracy of the substation equipment status in the bad environment, so the substation inspection robot can implement inspection in all area of the transformer substation, as well as has environment adaptability, engineering construction convenience and the higher promotion application value.

Design and Research of Quadcopter Navigator

This paper studies the autonomous navigation equipment of Quadcopter. SINS/GPS integrated navigation technology, ultrasonic ranging and barometric altimeter is used in the autonomous navigation system. Navigation board includes measuring height subsystem and measurement position subsystem. The former includes an inertial navigation module and GPS module using the Kalman filter for data fusion, which gets a more accurate and stable location information. Quadcopter height measurement subsystem, using ultrasound and barometers. Complementary filter for effective data fusion, is used to ensure the reliability of height measurement.

INS/GPS Integrated Navigation Technology for Hypersonic UAV

INS/GPS integrated navigation system is studied in this paper for the hypersonic UAV in order to satisfy the precise guidance requirements of hypersonic UAV and in response to the defects while the inertial navigation system (INS) and the global positioning system (GPS) are being applied separately. The information of UAV including position, velocity and attitude can be obtained by using INS and GPS respectively after generating a reference trajectory. The corresponding errors of two navigation systems can be obtained through comparing the navigation information of the above two guidance systems. Kalman filter is designed to estimate the navigation errors and then the navigation information of INS are corrected. The non-equivalence relationship between the platform misalignment angle and attitude error angle are considered so that the navigation accuracy is further improved. The Simulink simulation results show that INS/GPS integrated navigation system can help to achieve higher accuracy and better anti-interference ability than INS navigation system and this system can also satisfy the navigation accuracy requirements of hypersonic UAV. DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.4143

Study on Method of Autonomous Mobile Robot Integrated Navigation Based on SLAM

Aiming at the problem of navigation in unknown environment of autonomous mobile robot, the self-made mobile robot was taken as research object. The integrated navigation technology was adapted to integrate the SLAM navigation system, DR navigation system and MEMS micro inertial navigation system possessed by the studied robot to construct the SLAM/DR/MEMS integrated navigation system of mobile robot. The experiments were carried to test the method, and the results show that the precision of navigation and location of mobile robot was developed by the integrated navigation scheme.