Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship

Bijker, Johan; Steyn, Willem J.

doi:10.1016/j.conengprac.2008.04.011

Cited by 77 publications

(45 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This EKF is loosely coupled with a low-frequency GPS and gets the body attitude data, as a quaternion vector, from a 6-states KF algorithm that implements Wahba's method (I-B (1)) and used a linear acceleration derived from the GPS speed (I-B (4)). The proposed EKF-6 algorithm was previously applied in [19] with gyroscope data that are removed in the proposed version. Moreover, the acceleration data are combined with data from GPS after filtering.…”

Section: User Attitude Modelingmentioning

confidence: 99%

Dedicated object processor for mobile augmented reality - sailor assistance case study

2015

View full text Add to dashboard Cite

This paper addresses the design of embedded systems for outdoor augmented reality (AR) applications integrated to see-through glasses. The set of tasks includes object positioning, graphic computation, as well as wireless communications, and we consider constraints such as real-time, low power, and low footprint. We introduce an original sailor assistance application, as a typical, useful, and complex outdoor AR application, where context-dependent virtual objects must be placed in the user field of view according to head motions and ambient information. Our study demonstrates that it is worth working on power optimization, since the embedded system based on a standard general-purpose processor (GPP) + graphics processing unit (GPU) consumes more than high-luminosity see-through glasses. This work presents then three main contributions, the first one is the choice and combinations of position and attitude algorithms that fit with the application context. The second one is the architecture of the embedded system, where it is introduced as a fast and simple object processor (OP) optimized for the domain of mobile AR. Finally, the OP implements a new pixel rendering method (incremental pixel shader (IPS)), which is implemented in hardware and takes full advantage of OpenGL ES light model. A GP+OP(s) complete architecture is described and prototyped on field programmable gate-array (FPGA). It includes hardware/software partitioning based on the analysis of application requirements and ergonomics.

show abstract

Section: User Attitude Modelingmentioning

confidence: 99%

Dedicated object processor for mobile augmented reality - sailor assistance case study

2015

View full text Add to dashboard Cite

show abstract

“…However, the estimation of the rotation matrix requires two independent vector measurements. It was pointed out in [7] that the system becomes again observable if one considers the magn. and GPS measurements together.…”

Section: Decisions About the Applied Methods And Structure Of Thementioning

confidence: 99%

“…For example, [4] and [6] estimates elements of the rotation matrix, [8] uses Euler angles while [2], [5], [7] use quaternion representation. In the considered case, the quaternion representation was selected, because it never becomes singular and its dynamical equation is very simple which leads to a more accurate formulation of the filter (see Section III).…”

Section: Decisions About the Applied Methods And Structure Of Thementioning

confidence: 99%

Development and hardware-in-the-loop testing of an Extended Kalman Filter for attitude estimation

Bauer

Bokor

2010

2010 11th International Symposium on Computational Intelligence and Informatics (CINTI)

View full text Add to dashboard Cite

Abstract-This paper describes the development and hardware-in-the-loop testing of an Extended Kalman Filter (EKF) for attitude estimation. After literature review, a multimode solution to the estimation problem is introduced. It uses the sensor measurements optimally relying on the magnetic and acceleration data on the ground, and magnetic and GPS data in the air. An emergency aerial mode dealing with lost GPS data is also developed. The quaternion dynamic equations are chosen to represent system dynamics. Their special structure makes it possible to perform continuous-discrete transformation with a closed form solution of the Heun scheme. This can improve the prediction performance of the EKF. The observability of the system was examined using gridding of the state space in every modes of the filter. The computing steps of the new filter are summarized before presenting issues of implementation and testing. This article presents hardware-in-the-loop test results with simulated GPS losses. Comparison to another filter is also presented. The estimator was tested in real flights and performed as expected.

show abstract

“…The APIT positioning algorithm [4] is a scheme in which a node infers its position based on the possibility of being inside or outside of a triangle formed by any three anchors. Another set of solutions use Time of Arrival (TOA) [5] and Time Difference of Arrival (TDOA) [6] techniques to obtain pair-wise distances. These techniques demonstrate high accuracy in localization in real deployment.…”

Section: Introductionmentioning

confidence: 99%

A BeiDou Navigation System Aided Method for Localization in Manually Deployed Wireless Sensor Networks

Sun¹,

Li²,

Peng³

et al. 2017

Proceedings of the 3rd International Conference on Wireless Communication and Sensor Networks (WCSN 2016)

View full text Add to dashboard Cite

Abstract-BeiDou Navigation System can provide PNT services for mainland China. In this paper we present the design, implementation and evaluation of a simple, practical and cost effective Localization solution for wireless sensor network notes. This method is designed especially for manual deployments of WSN. We evaluate the solution exclusively in real deployments of BeiDou models. Experiments results show that 100% of the deployed notes have been successfully located and that the average errors are within 2 meters.

show abstract

Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship

Cited by 77 publications

References 15 publications

Dedicated object processor for mobile augmented reality - sailor assistance case study

Dedicated object processor for mobile augmented reality - sailor assistance case study

Development and hardware-in-the-loop testing of an Extended Kalman Filter for attitude estimation

A BeiDou Navigation System Aided Method for Localization in Manually Deployed Wireless Sensor Networks

Contact Info

Product

Resources

About