An INS/Geomagnetic Integrated Navigation Method for Coarse Estimation of Positioning Error and Search Area Adaption Applied to High-Speed Aircraft

Pang, Yang; Zhou, Zhe; Pan, Xiong; Song, Ningfang

doi:10.1109/jsen.2023.3244169

Cited by 5 publications

(4 citation statements)

References 24 publications

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“…By substituting equation ( 6) into equation ( 1), the relationship between the output voltage of the geomagnetic sensor and the roll angle of the HSA-UAV can be obtained, which is represented by a mathematical model as shown in equation (7),…”

Section: The Output-signal Analysis Of Geomagnetic Sensorsmentioning

confidence: 99%

“…The flight path correction of high-speed autonomous unmanned aerial vehicle (HSA-UAV) is a key technology to improve the accuracy of precise navigation control, and the measurement of roll angle during the flight process of UAV is an important guarantee for achieving path correction. So far, the commonly used measurement elements for measuring the roll angle of high-speed flight carriers (HSFCs) are the combination of global navigation satellite system (GNSS) [1][2][3], MEMS inertial navigation systems [4][5][6] (MEMS-INSs), and geomagnetic sensors [7,8]. Among them, using geomagnetic sensors to measure the roll angle has the advantages of high reliability, low cost, no accumulated error, and passive autonomy, and can be used normally under satellite rejection conditions, it has been widely used in the field of navigation [9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

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A novel method for measuring roll angle

Zhang,

Gao,

Wang

et al. 2024

Meas. Sci. Technol.

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The precise measurement of the spin speed of a high-speed autonomous unmanned aerial vehicle (HAS-UAV) is a key element in mastering flight stability, and the measurement of roll angle is the key to determining the accuracy of navigation control systems. We put forward a novel method for measuring roll angle. This method starts from the time-frequency domain analysis (TFDA) of the output signal of the geomagnetic sensor, extracts the time-frequency ridge of the time-frequency matrix (TFM) to obtain the spin speed of the HSA-UAV, and reconstructs the output signal of the geomagnetic sensor. It can calculate the roll angle when the calibration parameters of the geomagnetic sensor are unknown and have good engineering practical value. In addition, we also propose an improved nonlinear short-time Fourier transform (INLSTFT) with high-frequency resolution and a forward penalty dynamic path ridge-extraction method (FPDPRM) with frequency jump suppression to extract instantaneous frequency (IF) in the TFM.

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Section: The Output-signal Analysis Of Geomagnetic Sensorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel method for measuring roll angle

Zhang,

Gao,

Wang

et al. 2024

Meas. Sci. Technol.

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“…This approach contributes to enhancing the precision of the entire navigation system. When passing through a tunnel, although the

signal is blocked and the

information is inaccurate, the attitude information in the TMR digital compass is accurate and can continue to provide attitude correction for the

[ 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 , 63 ].…”

Section: Design Of High-precision Portable Digital Compass Systemmentioning

confidence: 99%

Development and Application of a High-Precision Portable Digital Compass System for Improving Combined Navigation Performance

Zhang,

Cui,

Zhang

2024

Sensors

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There are not many high-precision, portable digital compass solutions available right now that can enhance combined navigation systems’ overall functionality. Additionally, there is a dearth of writing about these products. This is why a tunnel magnetoresistance (TMR) sensor-based high-precision portable digital compass system is designed. First, the least-squares method is used to compensate for compass inaccuracy once the ellipsoid fitting method has corrected manufacturing and installation errors in the digital compass system. Second, the digital compass’s direction angle data is utilized to offset the combined navigation system’s mistake. The final objective is to create a high-performing portable TMR digital compass system that will enhance the accuracy and stability of the combined navigation system (abbreviated as CNS). According to the experimental results, the digital compass’s azimuth accuracy was 4.1824° before error compensation and 0.4580° after it was applied. The combined navigation system’s path is now more accurate overall and is closer to the reference route than it was before the digital compass was added. Furthermore, compared to the combined navigation route without the digital compass, the combined navigation route with the digital compass included is more stable while traveling through the tunnel. It is evident that the digital compass system’s design can raise the integrated navigation system’s accuracy and stability. The integrated navigation system’s overall performance may be somewhat enhanced by this approach.

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“…However, since the geomagnetic matching positioning technology needs to establish a geomagnetic database, the earth's environment's complexity makes the database's establishment very difficult. Therefore, the technology has yet to make significant progress [13]. Magnetometers and accelerometers are commonly used in engineering to form a magnetic compass to provide a high-precision heading angle for the carrier.…”

Section: Introductionmentioning

confidence: 99%

A Multi-Source Fusion Navigation System to Overcome GPS Interruption of Unmanned Ground Vehicles

et al. 2023

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The Inertial Navigation System/Global Positioning System (INS/GPS) fusion navigation technology commonly used by unmanned ground vehicles is prone to GPS interruption in complex environments, resulting in the inability of the system to locate accurately. This paper designs an INS/GPS/Odometer/Vision/Magnetometer fusion navigation scheme in response to this problem. Add odometer, vision, and magnetometer to the INS/GPS integrated navigation system, use odometer dead reckoning to suppress the position offset caused by GPS interruption, reduce the cumulative error of the system through visual positioning, and correct the course of INS with the help of magnetometer orientation Angle, improve the positioning ability of the system in the GPS interruption environment. In order to further enhance the positioning accuracy of the system, the Federal Filter algorithm (FKF) was improved, and the Federal Robust Cubature Kalman Filter algorithm (FRCKF) was proposed. A Robust Cubature Kalman Filter algorithm is introduced into the framework of the federated filter algorithm, which improves the processing ability of the FKF algorithm for nonlinear systems and reduces the positioning error of the system. Finally, an experimental platform for unmanned ground vehicle navigation was developed, and the effectiveness of the multi-source fusion navigation system was verified through vehicle navigation experiments. The experiment results show that the multi-source fusion navigation system designed in this paper can effectively reduce the negative impact of GPS interruption on the INS/GPS integrated navigation system and improve the positioning accuracy of unmanned ground vehicles.INDEX TERMS Unmanned ground vehicles, GPS interruption, INS/GPS/odometer/vision/magnetometer fusion navigation system, federal robust cubature Kalman filter algorithm, nonlinear systems.

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An INS/Geomagnetic Integrated Navigation Method for Coarse Estimation of Positioning Error and Search Area Adaption Applied to High-Speed Aircraft

Cited by 5 publications

References 24 publications

A novel method for measuring roll angle

A novel method for measuring roll angle

Development and Application of a High-Precision Portable Digital Compass System for Improving Combined Navigation Performance

A Multi-Source Fusion Navigation System to Overcome GPS Interruption of Unmanned Ground Vehicles

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