A Novel Calibration Method of SINS/DVL Integration Navigation System based on Quaternion

Xu, Bo; Wang, Lianzhao; Sheng-xin, LI; Zhang, Jiao

doi:10.1109/jsen.2020.2988500

Cited by 36 publications

(14 citation statements)

References 24 publications

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“…The SINS calculates the navigation parameters of the vehicle based on the outputs of gyroscopes and accelerometers. In the n frame, the SINS error equations and the estimated parameters of SINS can be expressed as [31]:…”

Section: Sins Modelmentioning

confidence: 99%

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

Xiang,

Zhang,

Wang

et al. 2023

Meas. Sci. Technol.

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In recent years, unmanned autonomous driving technology has attracted increasing attention from people, and become a research hotspot. Currently, the integration of strapdown inertial navigation system (SINS) and global navigation satellite systems (GNSSs) is the most common and effective navigation and positioning scheme for unmanned ground vehicles (UGVs) and unmanned aerial vehicles. However, this integrated system is unable to maintain a reliable positioning solution in challenging environments due to the inherent weakness of GNSS signals and the accumulation of SINS positioning errors over time. To address this issue, this paper proposes an integrated scheme based on an asynchronous Kalman filter for SINS, GNSS and two-dimensional (2D) laser Doppler velocimeter (LDV). In the proposed scheme, the SINS and 2D-LDV are tightly coupled to improve the robustness of the integrated system, and the error parameters between the 2D-LDV and the SINS are calibrated in real time during the validity of the GNSS signal. In addition, the designed asynchronous Kalman filter method evaluates the validity of the GNSS and 2D-LDV measurements in real time based on Mahalanobis distance of innovation vector and statistical property principle. Two groups of long-distance, high-mobility vehicle experiments conducted in challenging environments verify the validity of the proposed scheme. The experimental results show that the proposed SINS/GNSS/2D-LDV integrated navigation scheme has good environmental adaptability and reliability, and can maintain high horizontal and vertical positioning accuracy despite frequent GNSS signal failures, which can meet the needs of UGVs.

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Section: Sins Modelmentioning

confidence: 99%

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

Xiang,

Zhang,

Wang

et al. 2023

Meas. Sci. Technol.

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show abstract

“…SINS/DVL integrated navigation system is commonly used for long-range underwater navigation, only requiring on-boad navigation sensors. DVL is an instrument that measures the velocity of underwater vehicle based on Doppler effect and usually has two working modes: bottom tracking mode and water tracking mode [14]- [16], which is used to restrain the error accumulation of SINS. For common underwater applications, DVL is working in bottom tracking mode, and the accuracy of SINS/DVL integrated navigation mainly depends on two factors: the scale factor of DVL and misalignments between SINS and DVL.…”

Section: Problem Analysis Of Sins/dvl Integrated Navigationmentioning

confidence: 99%

SINS/DVL Integrated System With Current and Misalignment Estimation for Midwater Navigation

et al. 2021

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Motivated by the problem that water-track Doppler Velocity Log (DVL) cannot effectively suppress the error accumulation of strap-down inertial navigation system (SINS), this paper proposes a novel SINS/DVL integrated navigation algorithm for deep and long cruising range Human Occupied Vehicle (HOV). Such algorithm decomposes the navigation process into two tightly coupled working modes: alignment mode and navigation mode. In the alignment mode, HOV is controlled to perform horizontal circular motion for several minutes to realize Self-Aided SINS. Combining the precise navigation solutions provided by Self-Aided SINS and measurements from DVL with water track, recursive least square (RLS) algorithm is adopted to estimate heading misalignment angle between SINS and DVL and horizontal ocean current velocity. In the navigation mode, both horizontal ocean current velocity obtained in the alignment mode and DVL measurements are utilized to assist SINS, thus enabling SINS/DVL/Current integrated navigation. A square trajectory with a navigation-grade inertial measurement unit (IMU) is simulated to evaluate the proposed SINS/DVL integrated navigation algorithm. Simulation results show that the proposed SINS/DVL integrated navigation is capable of suppressing SINS error divergence effectively and efficiently. In addition, the feasibility and effectiveness of Self-Aided SINS based on horizontal circular motion is also verified by field test with real IMU data.

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“…Quaternions (as the Cayley-Dickson algebra of order 4) have wide applications in mathematics [1], physical [2] and signal processing [3]. Based on the quaternion algebra, some authors have generalized the linear canonical transform (LCT) to quaternion-valued function, known as the quaternionic linear canonical transform (QLCT) [4,5].…”

Section: Introductionmentioning

confidence: 99%

Theories and applications associated with biquaternion linear canonical transform

Gao

2023

Math Methods in App Sciences

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The quaternion linear canonical transform (QLCT) has been widely used in color image processing. Biquaternion is a more generalized algebra of quaternion, which has attracted scholars' research interest in recent years. In this paper, a new transform is proposed called the biquaternion linear canonical transforms (BiQLCTs). Due to the noncommutativity of biquaternion algebra multiplication, there are three different types of the BiQLCTs: Left‐sided BiQLCT, right‐sided BiQLCT, and two‐side BiQLCT. The transforms are the extension of the complex linear canonical transforms. Then, the relationships between the three kinds of transforms are obtained. Next, based on the right‐side biquaternion linear canonical transform (RBiQLCT), some general properties of this transform are proved. Moreover, the convolution and correlation theorems of the RBiQLCT are studied. As an application, according to the convolution operator and convolution theorem, the biquaternion linear time‐invariant system is analyzed. Finally, the Heisenberg uncertainty principle for the RBiQLCT is established.

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A Novel Calibration Method of SINS/DVL Integration Navigation System based on Quaternion

Cited by 36 publications

References 24 publications

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

SINS/DVL Integrated System With Current and Misalignment Estimation for Midwater Navigation

Theories and applications associated with biquaternion linear canonical transform

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