Backward smoothing adaptive SVDCKF integrated navigation algorithm

Lü, Wei; Jia, Xiaolin; Teng, Yun; Du, Yanjun; Zhang, Zhichao

doi:10.1016/j.asr.2023.07.026

Cited by 2 publications

(3 citation statements)

References 26 publications

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“…The sampling time interval is ∆t, and the first derivative of the IF at the time t ′ is shown in equation (24),…”

Section: Inlstft Algorithm Principlementioning

confidence: 99%

“…data fusion algorithms are used to optimize the output data of measuring components to reduce measurement errors. Typical data fusion algorithms are the Kalman filter [17,19,20] (KF), extended KF [21], unscented KF [22] (UKF), and cubature KF [23][24][25] (CKF), which can achieve relatively accurate estimation while ensuring reliable sensor output. In addition, Liu et al [26] proposed an optimal data fusion algorithm based on adaptive fading maximum correlation entropy generalized height CKF (AFCCKF-ODF) to enhance the robustness of integrated navigation systems.…”

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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“…The sampling time interval is ∆t, and the first derivative of the IF at the time t ′ is shown in equation (24),…”

Section: Inlstft Algorithm Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel method for measuring roll angle

Zhang,

Gao,

Wang

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…The reason behind this lies in the fact that under vehicle motion, the output of in-ertial devices contains significant noise. How to distinguish between valid data and noise, and reduce the impact of vibration noise on system stability and positioning accuracy, remains to be studied [8][9][10]. In different scenarios, when the effectiveness of sensors in the integrated navigation system changes, corresponding adjustments need to be made to the state space model [11,12].…”

Section: Introductionmentioning

confidence: 99%

Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint

Zhang,

Zhang

2024

Preprint

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High-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. For the shortcomings of GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehi-cle positioning method of GNSS/INS/OD combination based on lateral distance measurement and lane constraint. Firstly, lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurement, odometer, and lane markings. Experimental results demonstrate that for a 4.6 km tunnel, the average absolute error of lateral positioning is 0.294 meters, and the longitudinal positioning error is no more than 0.6 meters, which can effectively meet practical operational requirements.

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Backward smoothing adaptive SVDCKF integrated navigation algorithm

Cited by 2 publications

References 26 publications

A novel method for measuring roll angle

A novel method for measuring roll angle

Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint

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