Статті в журналах: "Inertial navigation systems"

1

Kortunov, V. I., I. Yu Dybska, G. A. Proskura, and T. Trachsel. "Accuracy Analysis of Strapdown Inertial Navigation Systems." Kosmìčna nauka ì tehnologìâ 13, no. 4 (July 30, 2007): 40–48. http://dx.doi.org/10.15407/knit2007.04.040.

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2

Turygin, Yuri, Pavol Božek, Yuri Nikitin, Ella Sosnovich, and Andrey Abramov. "Enhancing the reliability of mobile robots control process via reverse validation." International Journal of Advanced Robotic Systems 13, no. 6 (December 1, 2016): 172988141668052. http://dx.doi.org/10.1177/1729881416680521.

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Анотація:

The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.

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3

Szelmanowski, Andrzej, Mirosław Nowakowski, Zbigniew Jakielaszek, and Piotr Rogala. "Computer-based method for the technical condition evaluation of the Cardan inertial navigation system for the highly maneuverable aircraft." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (February 28, 2019): 344–51. http://dx.doi.org/10.24136/atest.2019.064.

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Paper presents the original computer-based method of the technical condition evaluation of the analog inertial navigation systems on the basis of the calculated inertial speed course analysis. There are presented the mathematical relationships describing the influence of the angular velocity and linear accelerations sensors errors (used in inertial navigation systems on board the military aircraft) with the relation to the discrepancies of the calculated pilot-navigational parameters (such as inertial speed components and navigational position coordinates). On the example of the Cardan navigation system IKW-8 (used on board the highly-maneuverable SU-22 aircraft) there are presented the inertial speed course measurement and analysis possibilities as well as the criteria of technical condition evaluation and determination of the tendency of its changes.

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4

He, Hongyang, Feng Zha, Feng Li, and Qiushuo Wei. "A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems." Sensors 23, no. 6 (March 14, 2023): 3091. http://dx.doi.org/10.3390/s23063091.

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Compared with the strapdown inertial navigation system (SINS), the rotation strapdown inertial navigation system (RSINS) can effectively improve the accuracy of navigation information, but rotational modulation also leads to an increase in the oscillation frequency of attitude errors. In this paper, a dual-inertial navigation scheme that combines the strapdown inertial navigation system and the dual-axis rotation inertial navigation system is proposed, which can effectively improve the attitude error accuracy in the horizontal direction by using the high-position information of the rotation inertial navigation system and the stability characteristics of the attitude error of the strapdown inertial navigation system. Firstly, the error characteristics of the strapdown inertial navigation system and the rotation strapdown inertial navigation system are analyzed, and then the combination scheme and Kalman filter are designed according to the error characteristics, and finally, the simulation experiment shows that the pitch angle error of the dual inertial navigation system is reduced by more than 35% and the roll angle error is reduced by more than 45% compared with the rotation strapdown inertial navigation system. Therefore, the combination scheme of double inertial navigation proposed in this paper can further reduce the attitude error of the rotation strapdown inertial navigation system, and at the same time, the two sets of inertial navigation systems can also enhance the reliability of ship navigation.

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5

Novikov, P. V., A. A. Sheypak, V. N. Gerdi, V. V. Novikov, and V. N. Enin. "Algorithm for navigation of ground-based transport-technological facilities on the basis of integrated inertial-satellite navigation and odometer data." Izvestiya MGTU MAMI 11, no. 2 (June 15, 2017): 31–39. http://dx.doi.org/10.17816/2074-0530-66895.

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The dynamic development of navigation technologies has led to the emergence of practical applications for the solution of the problem of navigation of ground transport and technological facilities (GTTF). The most promising way of solving the navigation problem of GTTF is the creation of integrated inertial-satellite navigation systems. For a long period of time, the widespread use of navigation systems for transport applications was constrained by their high cost. The appearance of low-cost microelectromechanical (MEMS) inertial sensors on the market of navigation equipment provided the technological basis for the creation of small-scale inertial-satellite navigation systems. For transport applications, integrated inertial-satellite are integrated with additional information sensors, which include the odometer. Implementation of integrated systems is impeded by massively high level of intrinsic errors in MEMS sensors, as well as by the low accuracy of determining navigational parameters in the zone where the satellite signal of the satellite navigation systems is not stable. It is obvious that the development of methods for processing measurement information and the synthesis of specialized algorithms that ensure the accuracy of navigation systems GTTF is an urgent scientific task. In this paper, a schematic and technical solution for constructing an integrated inertial-satellite navigation systems with an integrated odometer sensor is presented and justified. A specialized navigation algorithm is developed that provides an integrated navigation solution for data coming from heterogeneous sources of measurements. A detailed functional diagram of the algorithm is given. A set of functional criteria for the quality and reliability of the navigation solution is defined. Correction algorithms for the main kinematic parameters of the trajectory motion of the GTTF - the true course angle, the location coordinates, the velocity vector components, are developed. The developed algorithm is invariant to the type of inertial sensors and in this sense is unified. Performance was confirmed by the results of full-scale tests of the navigation system of a forklift truck carrying out freight traffic on the territory of the seaport.

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6

Kovalenko, A. M., and A. A. Shejnikov. "Model of the inertial and optical navigation system of the unmanned aerial vehicle." «System analysis and applied information science», no. 2 (August 18, 2020): 17–25. http://dx.doi.org/10.21122/2309-4923-2020-2-17-25.

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In article approaches to creation of the complex inertial and optical navigation system of the short-range tactical unmanned aerial vehicle are considered. Algorithms constant and periodic (in intermediate points of a route) are offered correction of the platformless onboard inertial navigation system. At integration of information on parameters of the movement of the unmanned aerial vehicle (received from the considered systems) the invariant loosely coupled scheme of data processing on the basis of the expanded filter of Kallman was used that allowed to lower significantly a systematic component of an error of the platformless inertial navigation system. Advantages of the complex inertial and optical navigation system when ensuring flight of the unmanned aerial vehicle in an area of coverage of means of radio-electronic fight of the opponent are shown. The results of modeling confirming a possibility of ensuring precision characteristics of the inertial and optical navigation system in the absence of signals of satellite radio navigational systems are presented.

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7

Ushaq, Muhammad, and Jian Cheng Fang. "An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems." Applied Mechanics and Materials 245 (December 2012): 323–29. http://dx.doi.org/10.4028/www.scientific.net/amm.245.323.

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Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

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8

E, Topolskov, Beljaevskiy L. L, and Serdjuke A. "IMPROVEMENT OF NAVIGATION SYSTEMS OF VEHICLES BY MEANS OF INERTIAL SENSORS AND INFORMATION PROCESSING USING PROBABILITY-GEOMETRIC METHODS." National Transport University Bulletin 1, no. 46 (2020): 353–64. http://dx.doi.org/10.33744/2308-6645-2020-1-46-353-364.

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Providing high accuracy of the coordinates and trajectories of objects by measurements conducted in navigation systems and complexes is an urgent task, which improves safety and efficiency of different modes of transport. However difficult environmental conditions, where vehicles are commonly used, stipulate influence of different factors on performance of onboard satellite navigation receivers, which are used as basic navigation devices for ground vehicle nowadays. Setting on cars used for common purposes additional navigation devices, which provide better performance, in most cases is economically unreasonable. Economically reasonable ways to improve onboard navigation complexes of vehicles, which are used for common purposes, are examined in this article. Functional diagram and principles of work of navigational complex, which uses the satellite navigation receiver and simplified variant of inertial navigation system is pointed as well. Also, the justification of methods for minimizing the error formats of coordinates and trajectories of moving objects based on information processing in multipositional, in particular satellite-inertial navigation systems and complexes, is presented. The obtained research results give an opportunity to develop an algorithm for coordinate refinement, which can be implemented in the improved on-board navigational complex of vehicle. KEY WORDS: NAVIGATION SYSTEMS AND COMPLEXES, INERTIAL SENSORS, NAVIGATION DEFINITIONS, ACCURACY AND RELIABILITY OF COORDINATES AND TRAJECTORIES OF MOVING OBJECTS, ELLIPS OF ERRORS, PROBABILISTIC-GEOMETRIC METHODS.

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9

Vaispacher, Tomáš, Róbert Bréda, and František Adamčík. "Error Analysis of Inertial Navigation Systems Using Test Algorithms." Naše more 62, SI (October 2015): 204–8. http://dx.doi.org/10.17818/nm/2015/si21.

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10

Bodhare, Hemant Gautam, and Asst Prof Gauri Ansurkar. "LEO based Satellite Navigation and Anti-Theft Tracking System for Automobiles." International Journal for Research in Applied Science and Engineering Technology 10, no. 4 (April 30, 2022): 557–63. http://dx.doi.org/10.22214/ijraset.2022.41316.

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Abstract: GPS and Inertial Navigation Systems (INS) are used today in automobile navigation and tracking systems to locate themselves in Four Dimensions (latitude, longitude, altitude, time). However, GNSS or GPS still has its own bottleneck, such as the long initialization period of Precise Point Positioning (PPP) without dense reference network. For navigation, a number of selected LEO satellites can be equipped with a transmitter to transmit similar navigation signals to land users, so they can act like GNSS satellites but with much faster geometric change to enhance GNSS capability, which is named as LEO constellation enhanced GNSS (LeGNSS). This paper focuses on Low Earth Orbit navigation and anti-theft tracking system in automobiles that represents a framework which enables a navigating vehicle to aid its Inertial Navigation System when GNSS or GPS signal becomes unusable. Over the course of following years LEO satellite constellation will be available globally at ideal geometric locations. LEO Satellite aided Inertial navigation system with periodically transmitted satellite positions has the potential to achieve meter-level-accurate location. Keywords: LEO constellation, LEO enhanced GNSS (LeGNSS), Precise Point Positioning (PPP), Inertial Navigation System (INS), Precise Orbit Determination (POD)

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11

Liu, Tianhao, Tianshang Zhao, Huijun Zhao, and Chenguang Wang. "Adaptive Cubature Kalman Filter for Inertial/Geomagnetic Integrated Navigation System Based on Long Short-Term Memory Network." Applied Sciences 14, no. 13 (July 5, 2024): 5905. http://dx.doi.org/10.3390/app14135905.

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Inertial navigation systems experience error accumulation over time, leading to the use of integrated navigation as a classical solution to mitigate inertial drift. This provides a novel approach to navigation and positioning by using the combined advantages of inertial and geomagnetic navigation systems. However, inertial/geomagnetic navigation is affected by significant magnetic interference in practical scenarios, resulting in reduced navigation accuracy. This research introduces a new neural network-assisted integrated inertial–geomagnetic navigation method (IM-NN), and utilizes the adaptive cubature Kalman filter to integrate attitude information from geomagnetism and inertial sensors. A model was created utilizing a Long Short-Term Memory Network (LSTM) to represent the relationship between specific force, angular velocity, and integrated navigation attitude information. The dynamics were estimated based on current and previous Inertial Measurement Unit (IMU) data using IM-NN. This study demonstrated that the method effectively corrected inertial accumulation errors and mitigated geomagnetic disruption, resulting in a more accurate and dependable navigation solution in environments with geomagnetic rejection compared to conventional single inertial navigation methods.

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12

Smith, S. G. "Developments in Inertial Navigation." Journal of Navigation 39, no. 3 (September 1986): 401–15. http://dx.doi.org/10.1017/s0373463300000874.

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Inertial navigation systems represent the ideal in automatic navigation. They operate entirely without external assistance, other than information as to their starting conditions, which makes them of great interest to both military and civil operators.

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13

Chernyak, Mykola, and Vadym Kolesnyk. "Improving Strapdown Inertial Navigation System Performance by Self-Compensation of Inertial Sensor Errors." Transactions on Aerospace Research 2023, no. 4 (December 1, 2023): 41–51. http://dx.doi.org/10.2478/tar-2023-0022.

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Abstract Microelectromechanical systems (MEMS)-based strapdown navigation systems offer advantages such as small size, low cost and minimal power consumption. However, MEMS sensors are prone to significant low-frequency noise and poor bias repeatability, which can lead to navigational errors over time. These errors make them unsuitable for autonomous navigation applications, even with frequent recalibration. One way in which to solve this problem is by using the rotation modulation (RM) method. This approach is widely recognised but has only been successful with precise laser and fiber optic gyroscopes equipped with precise rotating platforms. This article focuses on the potential of adapting the RM method for the case of inexpensive MEMS sensors that can significantly improve navigation performance, while maintaining the benefits of microelectromechanical technologies. Potential issues of implementation were discussed, and corresponding requirements were formulated. The proposed optimal computation scheme was verified during static tests of the developed inertial measurement unit (IMU). Further steps in studying the adaptation of the RM method for MEMS sensors have also been outlined.

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14

Qian, Kun, Jian-Guo Wang, and Baoxin Hu. "Novel Integration Strategy for GNSS-Aided Inertial Integrated Navigation." GEOMATICA 69, no. 2 (June 2015): 217–30. http://dx.doi.org/10.5623/cig2015-205.

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The conventional integration mechanism in GNSS (Global Navigation Satellite Systems) aided inertial integrated positioning and navigation system is mainly based on the continuous outputs of the navigation mechanization, the associated error models for navigation parameters, the biases of the inertial measurement units (IMU), and the error measurements. Its strong dependence on the a priori error characteristics of inertial sensors may suffer with the low-cost IMUs, e.g. the MEMS IMUs due to their low and unstable performance. This paper strives for a significant breakthrough in a compact and general integration strategy which restructures the Kalman filter by deploying a system model on the basis of 3D kinematics of a rigid body and performing measurement update via all sensor data inclusive of the IMU measurements. This novel IMU/GNSS Kalman filter directly estimates navigational parameters instead of the error states. It enables the direct use of the IMU's raw outputs as measurements in measurement updates of Kalman filter instead of involving the free inertial navigation calculation through the conventional integration mechanism. This realization makes all of the sensors in a system no longer to be differentiated between core and aiding sensors. The proposed integration strategy can greatly enhance the sustainability of low-cost navigation systems in poor GNSS and/or GNSS denied environment compared to the conventional aided error-state-based inertial navigation integration mechanism. The post-processed solutions are presented to show the success of the proposed multisensor integrated navigation strategy.

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15

Wang, Lin, Wenqi Wu, Guo Wei, Jinlong Li, and Ruihang Yu. "A Novel Information Fusion Method for Redundant Rotational Inertial Navigation Systems Based on Reduced-Order Kalman Filter." MATEC Web of Conferences 160 (2018): 07005. http://dx.doi.org/10.1051/matecconf/201816007005.

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The redundant rotational inertial navigation systems can satisfy not only the high-accuracy but also the high-reliability demands of underwater vehicle on navigation system. However, different systems are usually independent, and lack of information fusion. A reduced-order Kalman filter is designed to fuse the navigation information output of redundant rotational navigation systems which usually include a dual-axis rotational inertial navigation system being master system and a single-axis rotational inertial navigation system being hot-backup system. The azimuth gyro drift of single-axis rotational inertial navigation system can be estimated by the designed filter, whereby the position error caused by that can be compensated with the aid of designed position error prediction model. As a result, the improved performance of single-axis rotational inertial navigation system can guarantee the position accuracy in the case of dual-axis system failure. Semi-physical simulation and experiment verify the effectiveness of the proposed method.

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16

Karachun, V. V., Ya F. Kayuk, and V. N. Mel'nik. "Wave tasks of inertial navigation systems." Kosmìčna nauka ì tehnologìâ 13, no. 6 (November 30, 2007): 39–45. http://dx.doi.org/10.15407/knit2007.06.039.

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17

Barshan, B., and H. F. Durrant-Whyte. "Inertial navigation systems for mobile robots." IEEE Transactions on Robotics and Automation 11, no. 3 (June 1995): 328–42. http://dx.doi.org/10.1109/70.388775.

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18

Abo El Soud, M., E. Zakzouk, A. Hamad, and M. El-Dakiky. "ERROR ANALYSIS OF INERTIAL NAVIGATION SYSTEMS." International Conference on Aerospace Sciences and Aviation Technology 2, CONFERENCE (April 1, 1987): 1–9. http://dx.doi.org/10.21608/asat.1987.26201.

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19

Trifonov-Bogdanov, Peter, Anastasia Zhiravetska, Tatjana Trifonova-Bogdanova, and Vladimir Shestakov. "MECHANISMS OF ERROR DEVELOPMENT IN INERTIAL NAVIGATION SYSTEMS." Aviation 16, no. 2 (June 29, 2012): 33–37. http://dx.doi.org/10.3846/16487788.2012.701872.

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The processes of error development in an inertial navigation system are analysed. With this aim, the standard structures of error development were extracted in the inertial system. Error development was defined in the standard structures. Error development in the inertial navigation system is concluded according to the results obtained in the work.

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20

Chi Vi, Nguyen, Le Ngoc Giang, and Nguyen Văn Thong. "Research and calculate flight navigation parameters using data from the angular speed sensor and long acceleration sensor." International Journal of Multidisciplinary Research and Growth Evaluation 4, no. 1 (2023): 347–51. http://dx.doi.org/10.54660/.ijmrge.2023.4.1.347-351.

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Today, along with the development of science and technology, inertial navigation systems are applied with precision sensors and high-speed specialized digital computers. With the advantages of compactness and ease of integration and installation on aircraft, this type of navigation system is effectively applied to small and medium-sized unmanned aerial vehicles. When combined with other systems of the same function, such as satellite navigation systems, radio altimeter systems, barometric altimeter systems, etc., this system allows for the provision of angle and position information with high precision. In this paper, the Inertial Labs INS-P Professional Single Antenna GPS-Aided Inertial Navigation System was selected by the authors to improve the aircraft navigation system.

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21

Fariz, Outamazirt, Muhammad Ushaq, Yan Lin, and Fu Li. "Enhanced Accuracy Navigation Solutions Realized through SINS/GPS Integrated Navigation System." Applied Mechanics and Materials 332 (July 2013): 79–85. http://dx.doi.org/10.4028/www.scientific.net/amm.332.79.

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Strapdown Inertial Navigation Systems (SINS) displays position errors which grow with time in an unbounded manner. This degradation is due to the errors in the initialization of the inertial measurement unit, and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Improvement to this unbounded growth in errors can be made by updating the inertial navigation system solutions periodically with external position fixes, velocity fixes, attitude fixes or any combination of these fixes. The increased accuracy is obtained through external measurements updating inertial navigation system using Kalman filter algorithm. It is the basic requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertial Navigation System (SINS), Global Positioning System (GPS) is presented using a centralized linear Kalman filter.

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22

Chen, Danhe, Konstantin Neusypin, Maria Selezneva, and Zhongcheng Mu. "New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts." Sensors 19, no. 22 (November 17, 2019): 5016. http://dx.doi.org/10.3390/s19225016.

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This paper presents new algorithmic methods for accuracy improvement of autonomous inertial navigation systems of aircrafts. Firstly, an inertial navigation system platform and its nonlinear error model are considered, and the correction schemes are presented for autonomous inertial navigation systems using internal information. Next, a correction algorithm is proposed based on signals from precession angle sensors. A vector of reduced measurements for the estimation algorithm is formulated using the information about the angles of precession. Finally, the accuracy of the developed correction algorithms for autonomous inertial navigation systems of aircrafts is studied. Numerical solutions for the correction algorithm are presented by the adaptive Kalman filter for the measurement data from the sensors. Real data of navigation system Ts-060K are obtained in laboratory experiments, which validates the proposed algorithms.

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23

He, Qinyuan, Huapeng Yu, Dalei Liang, and Xiaozhuo Yang. "Enhancing Pure Inertial Navigation Accuracy through a Redundant High-Precision Accelerometer-Based Method Utilizing Neural Networks." Sensors 24, no. 8 (April 17, 2024): 2566. http://dx.doi.org/10.3390/s24082566.

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The pure inertial navigation system, crucial for autonomous navigation in GPS-denied environments, faces challenges of error accumulation over time, impacting its effectiveness for prolonged missions. Traditional methods to enhance accuracy have focused on improving instrumentation and algorithms but face limitations due to complexity and costs. This study introduces a novel device-level redundant inertial navigation framework using high-precision accelerometers combined with a neural network-based method to refine navigation accuracy. Experimental validation confirms that this integration significantly boosts navigational precision, outperforming conventional system-level redundancy approaches. The proposed method utilizes the advanced capabilities of high-precision accelerometers and deep learning to achieve superior predictive accuracy and error reduction. This research paves the way for the future integration of cutting-edge technologies like high-precision optomechanical and atom interferometer accelerometers, offering new directions for advanced inertial navigation systems and enhancing their application scope in challenging environments.

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24

Zhuravlev, V. Ph. "The New Type of Inertial Navigation Systems." Прикладная математика и механика 87, no. 4 (July 1, 2023): 513–18. http://dx.doi.org/10.31857/s0032823523040161.

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Анотація:

An inertial system of a new type has the smallest possible dimension. It differs from the already known inertial systems, platform and strapdown, in that it allows you to do without gyroscopes and blocks for integrating Poisson’s equations, simultaneously combining the functions of an apparent acceleration sensor.

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25

Guan, Bofan, Zhongping Liu, Dong Wei, and Qiangwen Fu. "Design of a Multi-Position Alignment Scheme." Sensors 24, no. 6 (March 18, 2024): 1938. http://dx.doi.org/10.3390/s24061938.

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The current new type of inertial navigation system, including rotating inertial navigation systems and three-autonomy inertial navigation systems, has been increasingly widely applied. Benefited by the rotating mechanisms of these inertial navigation systems, alignment accuracy can be significantly enhanced by implementing IMU (Inertial Measurement Unit) rotation during the alignment process. The principle of suppressing initial alignment errors using rotational modulation technology was investigated, and the impact of various component error terms on alignment accuracy of IMU during rotation was analyzed. A corresponding error suppression scheme was designed to overcome the shortcoming of the significant scale factor error of fiber optic gyroscopes, and the research content of this paper is validated through corresponding simulations and experiments. The results indicate that the designed alignment scheme can effectively suppress the gyro scale factor error introduced by angular motion and improve alignment accuracy.

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26

Lin, Boyu, and Hutao Cui. "Research on A Low Computational Cost Vision-aided Inertial Navigation Method for Precision Landing on Asteroid." Journal of Physics: Conference Series 2203, no. 1 (February 1, 2022): 012020. http://dx.doi.org/10.1088/1742-6596/2203/1/012020.

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Abstract Asteroid exploration missions demand more autonomous navigation system that are precise and in real-time. Visual-aided inertial navigation systems combine the advantages of autonomy of inertial navigation systems and accuracy of visual navigation systems. However, both increase the computational burden for the information processing. With the goal of decreasing the computational load, this paper proposes a low cost vision-aided inertial navigation method which can calculate increment position, velocity and attitude directly in inertial frame by pre-integrating IMU measurements. For visual information, specific combinations of the features are selected according to information entropy theory to reduce computation. Simulation results show that the standard deviations of the spacecraft’s estimated position error is less than 1 m, the velocity less than 0.002 m/s and the attitude angle less than 0.005 deg, compatible with precision landing on asteroids.

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27

Cai, Yunpiao, Weixing Qian, Jiaqi Zhao, Jiayi Dong, and Tianxiao Shen. "Visual–Inertial Navigation System Based on Virtual Inertial Sensors." Applied Sciences 13, no. 12 (June 17, 2023): 7248. http://dx.doi.org/10.3390/app13127248.

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In this paper, we propose a novel visual–inertial simultaneous localization and mapping (SLAM) method for intelligent navigation systems that aims to overcome the challenges posed by dynamic or large-scale outdoor environments. Our approach constructs a visual–inertial navigation system by utilizing virtual inertial sensor components that are mapped to the torso IMU under different gait patterns through gait classification. We apply a zero-velocity update (ZUPT) to initialize the system with the original visual–inertial information. The pose information is then iteratively updated through nonlinear least squares optimization, incorporating additional constraints from the ZUPT to improve the accuracy of the system’s positioning and mapping capabilities in degenerate environments. Finally, the corrected pose information is fed into the solution. We evaluate the performance of our proposed SLAM method in three typical environments, demonstrating its applicability and high precision across various scenarios. Our method represents a significant advancement in the field of intelligent navigation systems and offers a promising solution to the challenges posed by degenerate environments.

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28

Novikov, P. V., A. A. Sheypak, V. N. Gerdi, and V. V. Novikov. "Increase of the accuracy and reliability of output parameters determination of vehicle Integrated Navigation Systems." Izvestiya MGTU MAMI 10, no. 4 (December 15, 2016): 50–56. http://dx.doi.org/10.17816/2074-0530-66919.

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Анотація:

Dynamic development of navigation technologies opens up possibilities for the successful solution of a wide range of navigation tasks of mobile objects. For a long time the extension of the scope of navigation systems for transport applications was constrained by their high cost. The emergence of a small cheap inertial sensors, based on MEMS technology have resulted in integrated navigation systems, including the inertial and satellite GPS/GLONASS inertial modules. For solving problems of navigation of ground vehicles the integrated system is combinated with odometer. Nowadays a number of car navigation systems were made including the odometer along with the inertial measurement unit and a receiver of a satellite navigation system. However, most of these systems only exists in the form of models. The article provides the option of constructing the integrated navigation system of a vehicle brought to practical implementation. The analysis of the errors of the navigation system was made. The method of correction of errors due to the damping of the errors in speed with subsequent consideration of the damping of the amendments was proposed. Method is distinguished by ease of implementation and reliability. Correction of the navigation parameters calculated on the base of measurements of inertial sensors and odometer is permissible only when it is known that their accumulated errors have exceeded the corresponding error of the satellite navigation solution. Essentially new to the theory and practice of operation of vehicle is the introduction of a system of criteria characterizing the stability of mode generation navigation parameters. In article the numerical value of criteria-based assessments are of interest to developers of navigation systems, since accounting provides the reliability of the determination of output parameters of the system. The practical value of the presented research results, is that they can be used in the construction of high-precision navigation system of a ground vehicle.

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29

Rahimi, Hossein, and Amir Ali Nikkhah. "Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988141989484. http://dx.doi.org/10.1177/1729881419894849.

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In this article, a method was proposed for strapdown inertial navigation systems initial alignment by drawing on the conventional alignment method for stable platform navigation systems. When a vessel is moored, the strapdown inertial navigation system contributes to the disturbing motion. Moreover, the conventional methods of accurate alignment fail to succeed within an acceptable period of time due to the slow convergence of the heading channel in the mooring conditions. In this work, the heading was adjusted using the velocity bias resulting from the component of the angular velocity of the Earth on the east channel on the strapdown inertial navigation systems analytic platform plane to accelerate convergence in the initial alignment of navigation system. To this end, an extended Kalman filter with control signal feedback was used. The heading error was calculated using the north channel residual velocity of the strapdown inertial navigation systems analytic platform plane and was entered into an extended Kalman filter. Simulation and turntable experimental tests were indicative of the ability of the proposed alignment method to increase heading converge speed in mooring conditions.

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30

Sokolov, S. V., D. V. Marshakov, and E. G. Chub. "Stable solution to the problem of autonomous navigation of moving objects on analytical trajectory intervals based on the results of inertial measurements." Izmeritel`naya Tekhnika, no. 4 (June 10, 2024): 4–15. http://dx.doi.org/10.32446/0368-1025it.2024-4-4-15.

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Анотація:

Provision of solution of the problem of autonomous navigation on a long time interval is considered. The main problem when using inertial navigation systems is caused by the accumulation of positioning and angular orientation errors. It is shown that this problem can be solved by combining methods of nonlinear filtering in processing the results of inertial measurements of platform-free inertial navigation systems and methods of reducing the dimensionality of the vector of navigation parameters on trajectory sections described by analytical models. Orthodromic (shortest) and circular intervals, most typical for program trajectories of transport objects – highways, railroads, airlines, etc., are considered as such trajectory sections. For circular intervals, analytical dependencies of the spatial coordinates of strapdown inertial navigation systems were obtained for the first time. These dependencies make it possible to reduce the dimension of the vector of navigation parameters and, as a consequence, to build a model of an autonomous observer of navigation parameters to use equations excluded from the general system of these parameters. It is shown that using stochastic nonlinear filtering methods it is possible to solve the problem of noise-resistant autonomous navigation on trajectory intervals described by analytical models. The proposed approach to solving the problem of autonomous navigation of moving objects makes it possible to significantly reduce computational costs in the practical implementation of algorithms for nonlinear filtering of current navigation parameters in comparison with traditional models of strapdown inertial navigation systems. The effectiveness of the proposed approach is illustrated with a numerical example. The results obtained are useful in developing navigation support for various transport objects moving along program trajectories, for example, aircraft for various purposes, railway, road, river transport, etc.

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31

Napier, M. "Integration of Satellite and Inertial Positioning Systems." Journal of Navigation 43, no. 1 (January 1990): 48–57. http://dx.doi.org/10.1017/s0373463300013813.

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Анотація:

The Global Positioning System (GPS) offers an absolute positioning accuracy of 15 to 100 metres. Inertial navigation complements GPS in that it provides relative positioning and is totally self-contained. These two positioning sensors are ideally suited for system integration for although there is not necessarily an improvement in accuracy, the integration of GPS with inertial navigation systems (INS) does enable an increase in system performance.

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32

Ibrahim, M. A., and V. V. Luk'yanov. "Algorithms and Configuration for a Moving Object Attitude Control System Based on Microelectromechanical Sensors." Herald of the Bauman Moscow State Technical University. Series Instrument Engineering, no. 2 (131) (June 2020): 44–58. http://dx.doi.org/10.18698/0236-3933-2020-2-44-58.

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Анотація:

Inertial systems for attitude control, stabilisation and navigation of moving objects boast a range of unique qualities, the most important of which are autonomy and interference immunity. At present, strap-down inertial navigation systems using inexpensive and compact microelectromechanical sensors are popular. The biggest disadvantage of the attitude control systems utilising microelectromechanical sensors is rapid error accumulation over time. The main error sources in strap-down inertial navigation systems are the errors of angular velocity sensors and accelerometers. Currently the accuracy required is ensured by the attitude control system processing the following two signals simultaneously: the magnetometer signal and the signal received from global navigation satellite systems such as GPS (NAVSTAR) and/or GLONASS. We developed an unconventional approach to integrating the two systems, that is, a strap-down inertial navigation system and a global navigation satellite system. It involves using the difference between the accelerations computed according to the global navigation satellite systems and those computed by the acelerometers and transformed to the geographic coordinate system for evaluating and compensating for the error of attitude angle assessment via the kinematic channel. Since this approach does not use integration of accelerometer readings, the attitude angle errors at the initial stage do not accumulate over time. Numerical simulation results of the algorithms developed show that the attainable attitude angle estimation accuracy significantly exceeds the accuracy of conventional methods

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33

Szelmanowski, Andrzej. "Feasibility to Diagnose Inertial Navigation Systems Through Analysis of Schuler Errors." Research Works of Air Force Institute of Technology 33, no. 1 (January 1, 2013): 173–86. http://dx.doi.org/10.2478/afit-2013-0010.

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Анотація:

Abstract The paper is intended to discuss errors in measurements of angular velocity and linear acceleration by means of electronic inertial sensors incorporated into the Attitude and Heading Reference Systems (AHRS) as well as Inertial Navigation Systems (INS). The mathematical equations are found out to establish how these errors affect deviations of flight parameters (such as linear speed and coordinates of the aircraft position indicated by navigation systems) that are calculated from the measurements and imaged e.g. in helmetmounted cueing systems. Some issues related to diagnostics of inertial navigation systems are addressed as well, both the most recent ones (e.g. the TOTEM-3000 central station with laser sensors installed on-board of the W-3PL GŁUSZEC helicopter) integrated via digital data buses MIL-1553B or ARINC-429 as well as more outdated solutions, such as IKW-1 and IKW-8 system used for Su-22 aircrafts. The methods of examination of the data processing paths for signals received from inertial sensors are presented with guidelines for development of the computer system for assessment of technical condition exhibited by systems of inertial navigation with prolonged technical resource.

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34

Vasilyuk, Nikolay N. "Integrated GNSS antenna with an embedded inertial measurement unit." Izmeritel`naya Tekhnika, no. 3 (2020): 16–23. http://dx.doi.org/10.32446/0368-1025it.2020-3-16-23.

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Анотація:

When constructing inertial/GNSS navigation systems, it is necessary to determine coordinates of a GNSS antenna relative to an inertial measurement unit. It is proposed to solve this problem by integrating of the inertial unit and GNSS antenna’s element into a common structure called an integrated antenna. This approach allows to determine the required coordinates in factory conditions, during a manufacturing of the integrated antenna. Operation principles of design modules of the integrated antenna and ways to use this antenna in the inertial/GNSS navigation systems have been described. Design features of a half-duplex digital data exchange between the antenna and a data processor have been indicated. Approaches to use this exchange to solve some service tasks of the navigation system have been proposed. It is noted that the integrated antenna has its own measuring basis. Methods of accounting of the attitude of this basis in practical applications of the integrated antennas in the single- and multi-antenna inertial/GNSS navigation systems have been described.

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35

Shcherban’, I. V., and O. G. Shcherban’. "Algorithm for integrated inertial-satellite navigation systems." Automatic Control and Computer Sciences 48, no. 6 (November 2014): 368–74. http://dx.doi.org/10.3103/s014641161406008x.

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36

Bar-Itzhack, I. Y., and N. Berman. "Control theoretic approach to inertial navigation systems." Journal of Guidance, Control, and Dynamics 11, no. 3 (May 1988): 237–45. http://dx.doi.org/10.2514/3.20299.

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37

Prokhorov, Y. G. "Observability of gravimeter-aided inertial navigation systems." Journal of Guidance, Control, and Dynamics 18, no. 6 (November 1995): 1416–19. http://dx.doi.org/10.2514/3.21562.

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38

LEE, Man Hyung, Won Chul PARK, Kil Soo LEE, Sinpyo HONG, Hyung Gyu PARK, Ho Hwan CHUN, and Fumio HARASHIMA. "Observability Analysis Techniques on Inertial Navigation Systems." Journal of System Design and Dynamics 6, no. 1 (2012): 28–44. http://dx.doi.org/10.1299/jsdd.6.28.

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39

C.-W. Tan and S. Park. "Design of Accelerometer-Based Inertial Navigation Systems." IEEE Transactions on Instrumentation and Measurement 54, no. 6 (December 2005): 2520–30. http://dx.doi.org/10.1109/tim.2005.858129.

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40

Ghasemzadeh, Vahid, and Mohammad M. Arefi. "Design, modeling, and simulation of an INS system using an asymmetric structure of six accelerometers and its error analysis in the ECEF frame." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 13 (August 11, 2016): 2345–61. http://dx.doi.org/10.1177/0954410016662059.

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Анотація:

The inertial navigation system is one of the most important and common methods of navigation. In this system, accelerometers and gyroscopes are used to measure linear accelerations and angular velocities, respectively. Accelerometers have simpler manufacture techniques, lower cost, and smaller volume and weight in comparison with gyroscopes. Therefore, in some application of navigation systems, non-gyro inertial navigation systems based on accelerometers are used. In this paper, an asymmetric structure of six accelerometers is proposed. Then dynamic relations of this structure are extracted. This structure and its relations can determine linear accelerations and angular velocities, completely. Moreover, the algorithm of inertial navigation in earth centered earth fixed (ECEF) frame is suggested. Error analysis as of the most important issues in inertial navigation is discussed. Thus, bias, misalignment, sensitivity, and noise of accelerometers are modeled appropriately. In addition, a symmetric structure of accelerometers is proposed and its equations are derived. Finally, the designed system, error model of accelerometers, and algorithm of inertial navigation in ECEF frame are simulated. The results of simulation show that the designed system has suitable accuracy and applications for short time navigation. Furthermore, results confirm that the proposed asymmetric structure requires less accelerometer in comparison with symmetric structure.

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41

Wei, Qiushuo, Feng Zha, Hongyang He, and Bao Li. "An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems." Sensors 22, no. 19 (October 7, 2022): 7610. http://dx.doi.org/10.3390/s22197610.

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The system-level calibration technology of rotational inertial navigation is one of the main methods to improve the accuracy of inertial navigation, and the design of the calibration scheme is the key to calibration technology. By the establishment of the error model of inertial navigation system, a 30-position calibration scheme is designed in this study. Based on the 30-dimensional Kalman filter, the constant errors, scale factor errors and installation error of gyroscope and accelerometer are identified. Comparing the traditional schemes and the 30-position scheme with the simulation experiment, the observability of the 30-position scheme is higher, the residual error of the estimated sensor is smaller and the navigation positioning accuracy after the estimated inertial sensor error parameter compensation is higher, which verifies the feasibility of the 30-position scheme. Finally, the measured experiment uses the 30-position scheme to estimate the error of a certain type of IMU sensor, and the calibration curve of the error parameter is well converged before the end of the calibration experiment, so it has certain practical value.

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42

Yu, Dongming, and Hong Liu. "Relative positioning method for unmanned aerial vehicles in complex electromagnetic environment." Journal of Physics: Conference Series 2764, no. 1 (May 1, 2024): 012100. http://dx.doi.org/10.1088/1742-6596/2764/1/012100.

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Abstract In view of the problem that satellite navigation and positioning systems may fail or be unreliable in complex electromagnetic environments, which may lead to divergence of UAV positioning, the inertial navigation systems working for a long time may lead to increasing errors. This paper adopts a relative navigation algorithm that combines airborne inertial navigation systems and inter-aircraft relative information measurement. The algorithm requires each UAV to load relative navigation equipment and inertial navigation systems and acquire and fuse relative navigation information through inter-aircraft communication. In this relative navigation algorithm, the host and wing plane can transmit their respective navigation information and relative navigation information to each other, and fuse information from different sources through a Kalman filtering algorithm to enhance the accuracy of relative positioning data. With the help of corrected and feedback relative positioning data, the relative location of the host and wingman is achieved. The actual simulation results show that the relative position RMSE of the host, Wing Plane 1, and Wing Plane 2 in the X, Y, and Z dimensions are 1.345 m, 0.7388 m, 1.645 m, 2.167 m, 1.201 m, and 2.069 m, respectively. It is apparent that this scheme improves the relative navigation performance and robustness of the UAV group.

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43

Mohamed, H. A., J. M. Hansen, M. M. Elhabiby, N. El-Sheimy, and A. B. Sesay. "PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-1/W4 (August 26, 2015): 337–43. http://dx.doi.org/10.5194/isprsarchives-xl-1-w4-337-2015.

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Анотація:

Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

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44

Zharkov, Maksim, Konstantin Veremeenko, Ivan Kuznetsov, and Andrei Pronkin. "Global Navigation Satellite System Spoofing Detection in Inertial Satellite Navigation Systems." Inventions 8, no. 6 (December 16, 2023): 158. http://dx.doi.org/10.3390/inventions8060158.

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The susceptibility of global navigation satellite systems (GNSSs) to interference significantly limits the possibility of their use. From the standpoint of possible consequences, the most dangerous interference is the so-called spoofing. Simultaneously, in most cases of GNSS use, an inertial navigation system (INS) or an attitude and heading reference system (AHRS) is also present on the board of mobile objects. In this regard, the research goal is to assess the possibility of detecting GNSS spoofing in inertial satellite navigation systems. This paper examines the method for detecting GNSS spoofing by combining a pair of commercially available GNSS receivers and antennas with an INS or AHRS. The method is based on a comparison of the double differences of GNSS carrier phase measurements performed by receivers under conditions of resolved integer ambiguity and the values of the range double differences predicted using an INS. GNSS carrier phase integer ambiguity can be resolved using a strapdown inertial navigation system (SINS) or AHRS data. The mathematical model of GNSS phase difference measurements and the SINS-predicted satellite range differences model are given. The proposed algorithm calculates the moving average of the residuals between the SINS-predicted satellite range double differences and the measured GNSS carrier phase double differences. The primary criterion for spoofing detection is the specified threshold excess of the moving average of the double difference residuals. Experimental studies are performed using simulation and hardware-in-the-loop simulation. The experimental results allow us to evaluate the efficiency of the proposed approach and estimate the potential characteristics of the spoofing detection algorithm based on it.

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45

Seo, Yeong-Bin, Haesung Yu, Kyungdon Ryu, Inseop Lee, Juhyun Oh, Cheonjoong Kim, Sang Jeong Lee, and Chansik Park. "Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems." Sensors 22, no. 21 (October 31, 2022): 8355. http://dx.doi.org/10.3390/s22218355.

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In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.

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46

Duan, Yabo, Huaizhan Li, Suqin Wu, and Kefei Zhang. "INS Error Estimation Based on an ANFIS and Its Application in Complex and Covert Surroundings." ISPRS International Journal of Geo-Information 10, no. 6 (June 4, 2021): 388. http://dx.doi.org/10.3390/ijgi10060388.

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Inertial navigation is a crucial part of vehicle navigation systems in complex and covert surroundings. To address the low accuracy of vehicle inertial navigation in multifaced and covert surroundings, in this study, we proposed an inertial navigation error estimation based on an adaptive neuro fuzzy inference system (ANFIS) which can quickly and accurately output the position error of a vehicle end-to-end. The new system was tested using both single-sequence and multi-sequence data collected from a vehicle by the KITTI dataset. The results were compared with an inertial navigation system (INS) position solution method, artificial neural networks (ANNs) method, and a long short-term memory (LSTM) method. Test results indicated that the accumulative position errors in single sequence and multi-sequences experiments decreased from 9.83% and 4.14% to 0.45% and 0.61% by using ANFIS, respectively, which were significantly less than those of the other three approaches. This result suggests that the ANFIS can considerably improve the positioning accuracy of inertial navigation, which has significance for vehicle inertial navigation in complex and covert surroundings.

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47

Capuano, Vincenzo, Liangchun Xu, and Jose Estrada Benavides. "Smartphone MEMS Accelerometer and Gyroscope Measurement Errors: Laboratory Testing and Analysis of the Effects on Positioning Performance." Sensors 23, no. 17 (September 1, 2023): 7609. http://dx.doi.org/10.3390/s23177609.

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Embedding various sensors with powerful computing and storage capabilities in a small communication device, smartphones have become a prominent platform for navigation. With the increasing popularity of Apple CarPlay and Android Auto, smartphones are quickly replacing built-in automotive navigation solutions. On the other hand, smartphones are equipped with low-performance Micro Electro Mechanical Systems (MEMS) sensors to enhance their navigation performance in Global Navigation Satellite System (GNSS)-degraded or -denied environments. Compared with higher-grade inertial navigation systems (INS), MEMS-based INSs have a poor navigation performance due to large measurement errors. In this paper, we present laboratory test results on the stochastic and deterministic errors observed in MEMS inertial sensor measurements of five different smartphones from different manufacturers. Then, we describe and discuss the short-term effects of these errors on the pure inertial navigation performance and also on the navigation performance based on the tight coupling of INS with GNSS measurements using a smartphone.

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48

Son, Jae-Hoon, Sang-Heon Oh, and Dong-Hwan Hwang. "Performance Improvement of Global Positioning System/Gyro-Free Inertial Navigation System Integrated Navigation Systems Using Gyroscopes." Journal of Institute of Control, Robotics and Systems 29, no. 6 (June 30, 2023): 510–20. http://dx.doi.org/10.5302/j.icros.2023.23.0010.

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49

Kwon, Jay Hyoun, and Christopher Jekeli. "Gravity Requirements for Compensation of Ultra-Precise Inertial Navigation." Journal of Navigation 58, no. 3 (August 19, 2005): 479–92. http://dx.doi.org/10.1017/s0373463305003395.

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Анотація:

Precision inertial navigation depends not only on the quality of the inertial sensors (accelerometers and gyros), but also on the accuracy of the gravity compensation. With a view toward the next-generation inertial navigation systems, based on sensors whose errors contribute as little as a few metres per hour to the navigation error budget, we have analyzed the required quality of gravity compensation to the navigation solution. The investigation considered a standard compensation method using ground data to predict the gravity vector at altitude for aircraft free-inertial navigation. The navigation effects of the compensation errors were examined using gravity data in two gravimetrically distinct areas and a navigation simulator with parameters such as data noise and resolution, supplemental global gravity model noise, and on-track interpolation method. For a typical flight trajectory at 5 km altitude and 300 km/hr aircraft speed, the error in gravity compensation contributes less than 5 m to the position error after one hour of free-inertial navigation if the ground data are gridded with 2 arcmin resolution and are accurate to better than 5 mGal.

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50

Moussa, M., A. Moussa, M. Elhabiby, and N. El-Sheimy. "INVESTIGATION OF DIFFERENT LOW-COST LAND VEHICLE NAVIGATION SYSTEMS BASED ON CPD SENSORS AND VEHICLE INFORMATION." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences V-1-2020 (August 3, 2020): 189–97. http://dx.doi.org/10.5194/isprs-annals-v-1-2020-189-2020.

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Abstract. Recently, many companies and research centres have been working on research and development of navigation technologies for self-driving cars. Many navigation technologies were developed based on the fusion of various sensors. However, most of these techniques used expensive sensors and consequently increase the overall cost of such cars. Therefore, low-cost sensors are now a rich research topic in land vehicle navigation. Consumer Portable Devices (CPDs) such as smartphones and tablets are being widely used and contain many sensors (e.g. cameras, barometers, magnetometers, accelerometers, gyroscopes, and GNSS receivers) that can be used in the land vehicle navigation applications.This paper investigates various land vehicle navigation systems based on low-cost self-contained inertial sensors in CPD, vehicle information and on-board sensors with a focus on GNSS denied environment. Vehicle motion information such as forward speed is acquired from On-Board Diagnosis II (OBD-II) while the land vehicle heading change is estimated using CPD attached to the steering wheel. Additionally, a low-cost on-board GNSS/inertial integrated system is also employed. The paper investigates many navigation schemes such as different Dead Reckoning (DR) systems, Reduced Inertial Sensor System (RISS) based systems, and aided loosely coupled GNSS/inertial integrated system.An experimental road test is performed, and different simulated GNSS signal outages were applied to the data. The results show that the modified RISS system based on OBD-II velocity, onboard gyroscopes, accelerometers, and CPD-based heading change provides a better navigation estimation than the typical RISS system for 90s GNSS signal outage. On the other hand, typical inertial aided with CPD heading change, OBD-II velocity updates, and Non-Holonomic Constraint (NHC) provide the best navigation result.

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