Application of unscented R–T–S smoothing based on novel mathematical model in SINS/GPS integrated system post processing

Gong, Xiaolin; Fan, Wei; Fang, Jiancheng

doi:10.1016/j.measurement.2014.06.007

Cited by 7 publications

(3 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The ARUKF Navigation Solution Method for the BDS Receiver. The UKF navigation solution [22,23] is an important method for the dynamic navigation information processing of satellite navigation receivers. In the actual dynamic navigation information estimation method, the observation equations and system equations of the navigation system usually exhibit nonlinear characteristics [23].…”

Section: The Vdsf-arukf Standalone Velocity Estimation Methods Based Omentioning

confidence: 99%

“…The UKF navigation solution [22,23] is an important method for the dynamic navigation information processing of satellite navigation receivers. In the actual dynamic navigation information estimation method, the observation equations and system equations of the navigation system usually exhibit nonlinear characteristics [23]. The UKF filter directly utilizes a nonlinear model to avoid introducing linearization errors, thereby improving the accuracy of the filter-based navigation solution and eliminating the need to estimate the Jacobian matrix.…”

Section: The Vdsf-arukf Standalone Velocity Estimation Methods Based Omentioning

confidence: 99%

See 1 more Smart Citation

Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

Shen

Liu

Peng

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The Carrier-Phase-Derived Doppler (CPDD) observation is an important type of observation for high-precision standalone velocity estimation (SVE) with the BeiDou Navigation Satellite System (BDS) receiver. The CPDD observation is susceptible to receiver clock jump, carrier-phase cycle slips, and multipath error. How to improve the accuracy and reliability of the SVE method based on the CPDD observation has become an urgent problem to be solved. Based on the Velocity Domain Selective Fusion (VDSF) strategy, this paper proposes the VDSF-ARUKF method for accuracy and reliability improvement of the SVE results of the original ARUKF method. In this improved ARUKF method, the CPDD observation and the raw Doppler observation are fused together based on the detection statistic under the framework of the Adaptively Robust Unscented Kalman Filter (ARUKF). Based on actual observations of the BDS receiver, a set of testing experiments were designed to verify the effectiveness of this improved ARUKF method. The experimental results show that the SVE method of the BDS receiver based on the VDSF-ARUKF can improve the accuracy and reliability of the ARUKF SVE results of the BDS receiver. In the case of multidimensional gross errors in the CPDD observations, the VDSF-ARUKF method can still obtain the SVE results with the highest accuracy on the order of several 10−2m/s when compared with the VDFF-ARUKF method and the ARUKF method using the CPDD observations.

show abstract

Section: The Vdsf-arukf Standalone Velocity Estimation Methods Based Omentioning

confidence: 99%

Section: The Vdsf-arukf Standalone Velocity Estimation Methods Based Omentioning

confidence: 99%

Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

Shen

Liu

Peng

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…However, the accuracy of SINS mainly depends on the inertial measurement unit, gyros and accelerometers, and the system errors are accumulating over time, so SINS does not apply to long-endurance navigation [1]. While, the Global Position System (GPS) can provide the worldwide and all-weather navigation information, and its high positioning accuracy, speed measuring precision has nothing to do with time, but in the city or in the forests, the signal of GPS is easy to be affected by environment such as buildings or trees [2]. So, when SINS is combined with GPS effectively, the advantages of both will be complemented and the precision and performance of the integrated navigation system will be improved.…”

Section: Introductionmentioning

confidence: 99%

The optimization of the outputs of loose coupled SINS/GPS system

Liu¹,

Xu²,

Li³

et al. 2016

Proceedings of the 2016 International Conference on Artificial Intelligence and Engineering Applications

View full text Add to dashboard Cite

In addition to check the availability of the Global Position System (GPS) receiver, residual χ2 detection method, which is used to assess the quality of auxiliary information provided by GPS and the fluctuations of the outputs of Kalman filter, is introduced in this paper. If the value of the detecting function is larger than the threshold value, the current navigation output minus the last navigation output and the difference is compared to another threshold which is set according to the motor performance of the vehicle. If the difference is bigger than the threshold, according to the change direction of the difference, the navigation results are corrected. While, if the difference is smaller than the threshold, the navigation results are output directly. The on-board experiments show that this method could monitor the fluctuations of outputs of GPS receiver and Kalman filter. And the precision of the attitude and velocity are greatly improved after the process of correction. The precision of the position is improved to a certain extent.

show abstract