A conditional cubature Kalman filter and its application to transfer alignment of distributed position and orientation system

Gong, Xiaolin; Chen, Longjun

doi:10.1016/j.ast.2019.105405

Cited by 28 publications

(18 citation statements)

References 29 publications

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“…(1) Flexure angle model Considering that the flexure angles 𝜂 𝑥 , 𝜂 𝑦 , 𝜂 𝑧 in the three directions are independent of each other, the flexure angles can be modelled as (Lu et al, 2017;Gong and Chen, 2019):…”

Section: Dynamic Angular Deformation Modelmentioning

confidence: 99%

“…The empirical model of the dynamic angular deformation is usually considered as a second-order Markov process, and the model parameters are usually set empirically or identified beforehand according to the test data (Wendel et al, 2004;Wu et al, 2013;Lu et al, 2017). However, the actual dynamic angular deformation changes complicatedly due to the internal complex structure, external random interference and other factors (Verhaegen and Zbikowski, 2017;Gong and Chen, 2019). Therefore, when the preset empirical model does not conform to the actual change of the dynamic angular deformation, the mismatch between the empirical model and the actual dynamic angular deformation will reduce the transfer alignment accuracy (Wendel et al, 2004;Wu et al, 2013;Gong et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

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A fast and accurate transfer alignment method without relying on the empirical model of angular deformation

Yang

Wang

Ding³

et al. 2022

J. Navigation

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This paper, in allusion to the limitations of traditional transfer alignment methods based on the external measurement equipment or the empirical model of angular deformation, proposes a rapid and accurate transfer alignment method without relying on the empirical angular deformation model. Firstly, the relationship between the actual angular deformation and the angular velocities measured by the gyroscopes in the master and slave inertial navigation systems (INSs) is derived to roughly estimate the angular deformation. Secondly, according to the error characteristics of gyroscopes, the error model of angular deformation is established. Thirdly, expanding the angular deformation error instead of the installation error angle, flexure angle and flexure angle rate into the state vector, a low-order transfer alignment filtering model independent of the empirical angular deformation model is established. The proposed method not only gets rid of the dependence on an empirical angular deformation model, but also realises the rapid and accurate initial alignment of the slave INS without adding any external measurement equipment. The simulations and experiments evidence the validity of the proposed transfer alignment method.

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Section: Dynamic Angular Deformation Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A fast and accurate transfer alignment method without relying on the empirical model of angular deformation

Yang

Wang

Ding³

et al. 2022

J. Navigation

View full text Add to dashboard Cite

show abstract

“…The user heading, absolute velocity, and coordinates were considered in the measurement model. This KF-based algorithms may not apply to all positioning estimation scenarios; some other non-linear models that are derivatives of the EKF are also suggested by authors to face the estimation accuracy problems of the sensor states [112]. However, the KF-based algorithm is the most frequent method used by the authors of the selected articles discussed in this review.…”

Section: Positioning and Trackingmentioning

confidence: 99%

Inertial Measurement Unit Sensors in Assistive Technologies for Visually Impaired People, a Review

Leiva

Jaén-Vargas

Codina

et al. 2021

Sensors

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A diverse array of assistive technologies have been developed to help Visually Impaired People (VIP) face many basic daily autonomy challenges. Inertial measurement unit sensors, on the other hand, have been used for navigation, guidance, and localization but especially for full body motion tracking due to their low cost and miniaturization, which have allowed the estimation of kinematic parameters and biomechanical analysis for different field of applications. The aim of this work was to present a comprehensive approach of assistive technologies for VIP that include inertial sensors as input, producing results on the comprehension of technical characteristics of the inertial sensors, the methodologies applied, and their specific role in each developed system. The results show that there are just a few inertial sensor-based systems. However, these sensors provide essential information when combined with optical sensors and radio signals for navigation and special application fields. The discussion includes new avenues of research, missing elements, and usability analysis, since a limitation evidenced in the selected articles is the lack of user-centered designs. Finally, regarding application fields, it has been highlighted that a gap exists in the literature regarding aids for rehabilitation and biomechanical analysis of VIP. Most of the findings are focused on navigation and obstacle detection, and this should be considered for future applications.

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“…e state variables of the transfer-aligned nonlinear mathematical model were divided into two groups. One group was linear variables independent of nonlinear variables, and the other group was composed of nonlinear variables and coupling of linear variables [12]. Zhu et al proposed a new real-time gravity compensation method, which took the gravity disturbance as the error state of the POS Kalman filter.…”

Section: Introductionmentioning

confidence: 99%

Optimization Method of High-Precision Control Device for Photoelectric Detection of Unmanned Aerial Vehicle Based on POS Data

Liu

Yang³

2022

Scientific Programming

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With the rapid development of modern technology, due to the light-weight, small size, and good concealment, unmanned aerial vehicle (UAV) has received much attention from the society and has been vigorously promoted. Photoelectric tracking detection system is an important means in the field of modern detection. The combination of a UAV and photoelectric detection system can effectively play an important role in reconnaissance and exploration, target positioning, communication, and navigation. At present, the relevant personnel have higher and higher requirements for the accuracy of the photoelectric detection function of UAV, and the original POS data relied on by the existing photoelectric detection devices of UAV has systematic errors, which leads to the low accuracy of photoelectric detection control. Therefore, in order to achieve the purpose of improving the high-precision control of the photoelectric detection device of UAV, this paper designed an optimization method for the high-precision control device of photoelectric detection of UAV based on POS data. Firstly, the improved PID control algorithm is applied to the optimization of the UAV control device, and secondly the error correction model is established by analyzing the error source, and the original POS data is corrected by the model. This paper used the designed high-precision control device optimization algorithm and the traditional algorithm to compare the stability control experiments of the UAV platform, respectively. The experimental results showed that the application of the improved UAV photoelectric detection control device optimization method could effectively improve the control device optimization accuracy of UAV photoelectric detection by 8.23%, which was conducive to the efficient implementation of the project.

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A conditional cubature Kalman filter and its application to transfer alignment of distributed position and orientation system

Cited by 28 publications

References 29 publications

A fast and accurate transfer alignment method without relying on the empirical model of angular deformation

A fast and accurate transfer alignment method without relying on the empirical model of angular deformation

Inertial Measurement Unit Sensors in Assistive Technologies for Visually Impaired People, a Review

Optimization Method of High-Precision Control Device for Photoelectric Detection of Unmanned Aerial Vehicle Based on POS Data

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