A Novel Robust Inertial and Ultra-Short Baseline Integrated Navigation Strategy Under the Influence of Motion Effect

Zhang, Liang; Zhang, Tao; Wei, Hongyu

doi:10.1109/tits.2022.3168442

Cited by 9 publications

(5 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the traditional localization model, they need a slant distance to complete positioning. The localization model is as follows [ 3 , 22 ].

where

and

are the true value.…”

Section: System Modelmentioning

confidence: 99%

“…As described in References [ 3 , 22 ], the USBL system can provide two bearing angles and it can be applied to the underwater localization problem. Considering the positioning problem, which relies solely on angle-of-arrival (AOA) measurements when slant distance information is absent, subsequent experiments will focus exclusively on the bearing measurements provided by the USBL system.…”

Section: Simulation and Field Testmentioning

confidence: 99%

See 1 more Smart Citation

An Underwater Source Localization Method Using Bearing Measurements

Li,

Liu,

Yan

et al. 2024

Sensors

View full text Add to dashboard Cite

Angle-of-arrival (AOA) measurements are often used in underwater acoustical localization. Different from the traditional AOA model based on azimuth and elevation measurements, the AOA model studied in this paper uses bearing measurements. It is also often used in the Ultra-Short Baseline system (USBL). However, traditional acoustical localization needs additional range information. If the range information is unavailable, the closed-form solution is difficult to obtain only with bearing measurements. Thus, a localization closed-form solution using only bearing measurements is explored in this article. A pseudo-linear measurement model between the source position and the bearing measurements is derived, and considering the nonlinear relationship of the parameters, a weighted least-squares optimization equation based on multiple constraints is established. Different from the traditional two-step least-squares method, the semidefinite programming (SDP) method is designed to obtain the initial solution, and then a bias compensation method is proposed to further minimize localization errors based on the SDP result. Numerical simulations show that the performance of the proposed method can achieve Cramer–Rao lower bound (CRLB) accuracy. The field test also proves that the proposed method can locate the source position without range measurements and obtain the highest positioning accuracy.

show abstract

“…In the traditional localization model, they need a slant distance to complete positioning. The localization model is as follows [ 3 , 22 ].

where

and

are the true value.…”

Section: System Modelmentioning

confidence: 99%

Section: Simulation and Field Testmentioning

confidence: 99%

An Underwater Source Localization Method Using Bearing Measurements

Li,

Liu,

Yan

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…According to the velocity error equations and attitude error equations of SINS [26][27][28][29], the navigation error equations based on the measurement model of time asynchronous parameters can be expressed as:…”

Section: Kalman Filter Designed For the Time Asynchronous Parameter C...mentioning

confidence: 99%

A time asynchronous parameters calibration method of high-precision FOG-IMU based on a single-axis continuous rotation scheme

Chang¹,

Shiwei²,

Zhang³

et al. 2023

Meas. Sci. Technol.

View full text Add to dashboard Cite

There is a time asynchronous problem with the output signals between each inertial sensor in an actual high-precision fiber optic gyro inertial measurement unit (FOG-IMU), which reduces the velocity update accuracy of the strap-down inertial navigation system (SINS) in the actual applications. Firstly, the velocity error formulas are derived in the coordinate navigation system considering three time asynchronous errors between the three-axis accelerometers and gyros. Then an error-state Kalman filter is designed with respect to the time asynchronous parameters measurement model in angular dynamic environments. Afterward, a single-axis continuous rotation scheme is developed to calibrate the time asynchronous parameters. In particular, a simple observability analysis model is proposed to verify the rationality of the calibration scheme. Furthermore, the time asynchronous parameters are calculated effectively based on the proposed indirect calibration scheme. Finally, the proposed method is verified effectively through simulations and turntable experiments, which can significantly reduce the measurement errors of high-precision FOG-IMU. As a result, compared with the traditional direct 3-parameter calibration method, the eastward and northward velocity errors are reduced by 7.01% and 2.48%, respectively.

show abstract

“…Literature [Xu et al (2022)] proposed a decentralized co-location method based on Adaptive Cubature Kalman Filter (ACKF) to improve the navigation accuracy of two lead AUVs. Literature [Zhang et al (2022)] designed a Kalman Filter (KF) method based on a hybrid distribution model derived from acoustic signal round trip delay and pitch angle measurement models to reduce the effect of underwater carrier motion on navigation accuracy, but did not fundamentally eliminate the INS cumulative error. Literature [Ju- Cheng et al (2017)] proposed an AUV navigation augmentation method based on single beacon ranging, which effectively suppresses the INS cumulative error by introducing distance, speed, and azimuth as measurement information.…”

Section: Introductionmentioning

confidence: 99%

A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater

Ye,

Tan,

Wang

et al. 2024

Front. Mar. Sci.

View full text Add to dashboard Cite

During underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, resulting in trajectory drift of the divers during prolonged self-guidance. To overcome the above problem, other aids are needed to correct the accumulated error of the INS. The single-beacon Assisted Inertial Navigation (AIN) method can improve the flexibility of inertial error correction while simplifying the localization equipment, which is suitable for the INS cumulative error correction scenario of divers. However, most of the traditional single-beacon assisted correction methods do not consider the effect of acoustic line bending on hydroacoustic ranging, and at the same time, they do not consider the problem of singular or pathological coefficient matrices introduced by inertial navigation neighbor localization deviations. Based on the above two shortcomings, this paper uses the acoustic velocity profile for acoustic line tracking, combines the localization idea of Mobile Primitives (MP), and proposes an MP-based acoustic line tracking-Assisted Inertial Navigation Localization (AINL) method, which constructs a sliding time window (STW) by taking the historical positioning of divers as a virtual primitive, and combines the nonlinear optimization method for iterative optimization search as a means to improve the accuracy and stability of self-navigation of the divers.

show abstract

A Novel Robust Inertial and Ultra-Short Baseline Integrated Navigation Strategy Under the Influence of Motion Effect

Cited by 9 publications

References 26 publications

An Underwater Source Localization Method Using Bearing Measurements

An Underwater Source Localization Method Using Bearing Measurements

A time asynchronous parameters calibration method of high-precision FOG-IMU based on a single-axis continuous rotation scheme

A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater

Contact Info

Product

Resources

About