Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Zhang, Baiqiang; Chu, Hairong; Sun, Tingting; Jia, Haiqiang; Guo, Lihong; Yue, Zhang

doi:10.1155/2015/239426

Cited by 9 publications

(4 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The initial position information is generally consistent with the position information of the starting point of the pipeline. Since the system starts to work from a standstill, the initial speed information is generally set to zero [20].…”

Section: Initial Alignment Modelmentioning

confidence: 99%

Positioning Algorithm of MEMS Pipeline Inertial Locator Based on Dead Reckoning and Information Multiplexing

et al. 2022

View full text Add to dashboard Cite

High-precision mapping and positioning of urban underground pipelines are the basic requirements of urban digital construction. Aiming at the above problems, a dead reckoning algorithm based on the starting point and ending point correction and forward and reverse solution information reuse is proposed. This paper firstly establishes a dead reckoning system model consisting of a microelectromechanical system (MEMS) inertial measurement unit (IMU) and an odometer and analyzes the propagation mechanism of dead reckoning errors. The algorithm constructs the trajectory correction matrix by using the position information of the starting point and the ending point of the short-distance underground pipeline and then uses the trajectory correction matrix to correct the trajectory position information obtained by forward and reverse dead reckoning. Finally, the corrected forward and reverse trajectory position information is fused and averaged to achieve high-precision mapping and positioning of underground pipelines. The simulation results of the 100 m pipeline show that the maximum positioning error of the proposed algorithm for straight pipelines is within 5 cm, and the maximum positioning error for 90° curved pipelines is within 20 cm. The algorithm effectively solves the problem of a rapid accumulation of errors over time in the process of dead reckoning, which greatly improves the positioning accuracy.

show abstract

Section: Initial Alignment Modelmentioning

confidence: 99%

Positioning Algorithm of MEMS Pipeline Inertial Locator Based on Dead Reckoning and Information Multiplexing

et al. 2022

View full text Add to dashboard Cite

show abstract

“…The number of arithmetic operations is one of the resources that is commonly used. It is evaluated using floating‐point operations per iteration (flops), which is defined as addition, subtraction, multiplication, or division operations between two floating numbers [27]. For example, in the summation of two ( n × m ) dimension matrices, nm flops are generated in the computer.…”

Section: Computational Complexitymentioning

confidence: 99%

Positioning accuracy improvement in high‐speed GPS receivers using sequential extended Kalman filter

Rahemi

Mosavi

2021

IET Signal Processing

View full text Add to dashboard Cite

It is well known that in high-speed movements, the positioning accuracy of global positioning system (GPS) receivers decreases drastically. The models presented so far to describe high-speed motion do not represent the state of the system precisely, so positioning accuracy with the methods based on these models is not appropriate. Here, a comprehensive method is proposed to solve the accuracy issue of the single-frequency GPS receiver at high-speed motions without increasing the computational complexity. Suitable modelling of the GPS receivers at high-speed motion, using the sequential extended Kalman filter, correct determination of the process noise covariance matrix and accurately estimating the variance of the observations are the basics of the proposed approach. Simulations with different data and motion scenarios (at speeds from 100 to 7300 m/s) show that the proposed method, while not increasing the computational cost, improves the accuracy of positioning more than 70% when compared to the conventional methods.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

show abstract

“…The UKF enabled more accurate estimations. Although operations in UKF such as the unscented transform (UT), i.e., the UT function in Algorithm 2, may appear more complex than those for the EKF, the assessments of actual computational complexity and optimizations for the application of various Kalman filter extensions were studied intensively by Zhang, et al [101] and Raitoharju and Piché [102]. An assessment of the above-described AUV application using MBSE methodology combined with MDA components is described in Table 5.…”

Section: Function Ukf Algorithmmentioning

confidence: 99%

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

Hien

Truong

et al. 2020

Applied Sciences

View full text Add to dashboard Cite

In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

show abstract

Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Cited by 9 publications

References 14 publications

Positioning Algorithm of MEMS Pipeline Inertial Locator Based on Dead Reckoning and Information Multiplexing

Positioning Algorithm of MEMS Pipeline Inertial Locator Based on Dead Reckoning and Information Multiplexing

Positioning accuracy improvement in high‐speed GPS receivers using sequential extended Kalman filter

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

Contact Info

Product

Resources

About