Research on Low-Cost Attitude Estimation for MINS/Dual-Antenna GNSS Integrated Navigation Method

Wang, Hailu; Liu, Ning; Su, Zhong; Li, Qing

doi:10.3390/mi10060362

Cited by 8 publications

(4 citation statements)

References 28 publications

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“…2, the heading angle, sensor bias (yaw rate offset), and roll angle are estimated, and then the slip angle is estimated. GNSS systems using dual antennas can measure attitude angles such as heading and roll angles [25][26][27]. However, these methods can only provide accurate output when there is sufficient signal from the satellite, such as in suburban roads [25,26].…”

Section: Overview Of the Slip Angle Estimationmentioning

confidence: 99%

Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU

et al. 2021

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Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs during turning, we propose a method in this study to accurately estimate the trajectory of a vehicle, focusing on the slip angle estimation. Although the two-wheel model is used as a general concept slip angle estimation, the accurate estimation of the parameters was difficult using the conventional methods. Therefore, a global navigation satellite system (GNSS) Doppler was used for parameter estimation. In addition, the roll angle was estimated as it occurs during turning and affects the slip angle of the vehicle. Specifically, we verified the improvement in accuracy of the vehicular trajectory estimation using the cost-effective GNSS Doppler/IMU.

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Section: Overview Of the Slip Angle Estimationmentioning

confidence: 99%

Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU

et al. 2021

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“…In recent times, small structural components like micro/nanoplates are extensively used in microelectromechanical systems (MEMS) and nanoelectromechanical systems (NEMS) attributable to its distinct and finest characteristics [1]. Micro/nano type rectangular plate based resonators are universally used for far-ranging applications such as in fields like energy harvesting [2,3], robotics [4,5], mass sensing [6,7], electronic filtering [8,9], communication systems [10,11], autonomous distribution systems [12,13], aerospace industry [14,15], navigation systems [16,17] etc.…”

Section: Introductionmentioning

confidence: 99%

Impacts of Length Scale Parameter on Material Dependent Thermoelastic Damping in Micro/nanoplates Applying Modified Coupled Stress Theory

Resmi

BABU

BAIJU

2022

mech

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Among the different energy dissipation mechanisms, thermoelastic damping plays a vital role and need tobe alleviated in resonators inorder to enhance its performance parameters by improving its thermoelastic dampinglimited qualityfactor, QTED. The maximum energy dissipation is also interrelated with critical length (???????? ) of theplates and by optimizing the dimensions the peaking of energy dissipation can be diminished. As the size of thedevices is scaled down, classical continuum theories are not able to explain the size effect related mechanicalbehavior at micron or submicron levels and as a result non-classical continuum theories are pioneered with theinception of internal length scale parameters. In this paper, analysis of isotropic rectangular micro-plates based onKirchhoff model applying Modified Coupled Stress Theory is used toanalyzethe size-dependent thermoelasticdamping and its impact on quality factor and critical dimensions.Hamilton principle is adapted to derive thegoverning equations of motion and the coupled heat conduction equation is employed to formulate the thermoelasticdamping limited quality factor of the plates. Five different structural materials (PolySi, Diamond,Si, GaAs andSiC)are used for optimizing QTED which depends on the materialperformance index parameters. ThermoelasticDamping Index [TDI] and thermal diffusion length, lT. According to this work, the maximum QTED is attained forPolySi with the lowest TDI and Lcmax is obtained for SiC which is having the lowest lT. The impact of lengthscaleparameters (l), vibration modes, boundary conditions (Clamped–Clamped and Simply Supported), and operatingtemperatures on QTED and Lcare also investigated. It is concluded that QTED is further maximized by selecting lowtemperatures and higher internal length scale parameters (l).The prior knowledge of QTED and Lchelp the designers tocome out with high performance low loss resonators.

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“…If these assumptions are violated, the KF’s result will be suboptimal and unstable. To solve the nonlinear problem, the extended Kalman filter (EKF) [ 27 ] algorithm is proposed. Although the EKF model is linearized by first-order Taylor series expansion of the process/measurement models for the current state estimate, it is difficult to obtain the ideal estimation, when the system has strong nonlinearity or the initial estimation error is large.…”

Section: Introductionmentioning

confidence: 99%

Attitude and Heading Estimation for Indoor Positioning Based on the Adaptive Cubature Kalman Filter

Geng

Xia

2021

Micromachines

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The demands for indoor positioning in location-based services (LBS) and applications grow rapidly. It is beneficial for indoor positioning to combine attitude and heading information. Accurate attitude and heading estimation based on magnetic, angular rate, and gravity (MARG) sensors of micro-electro-mechanical systems (MEMS) has received increasing attention due to its high availability and independence. This paper proposes a quaternion-based adaptive cubature Kalman filter (ACKF) algorithm to estimate the attitude and heading based on smart phone-embedded MARG sensors. In this algorithm, the fading memory weighted method and the limited memory weighted method are used to adaptively correct the statistical characteristics of the nonlinear system and reduce the estimation bias of the filter. The latest step data is used as the memory window data of the limited memory weighted method. Moreover, for restraining the divergence, the filter innovation sequence is used to rectify the noise covariance measurements and system. Besides, an adaptive factor based on prediction residual construction is used to overcome the filter model error and the influence of abnormal disturbance. In the static test, compared with the Sage-Husa cubature Kalman filter (SHCKF), cubature Kalman filter (CKF), and extended Kalman filter (EKF), the mean absolute errors (MAE) of the heading pitch and roll calculated by the proposed algorithm decreased by 4–18%, 14–29%, and 61–77% respectively. In the dynamic test, compared with the above three filters, the MAE of the heading reduced by 1–8%, 2–18%, and 2–21%, and the mean of location errors decreased by 9–22%, 19–31%, and 32–54% respectively by using the proposed algorithm for three participants. Generally, the proposed algorithm can effectively improve the accuracy of heading. Moreover, it can also improve the accuracy of attitude under quasistatic conditions.

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Research on Low-Cost Attitude Estimation for MINS/Dual-Antenna GNSS Integrated Navigation Method

Cited by 8 publications

References 28 publications

Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU

Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU

Impacts of Length Scale Parameter on Material Dependent Thermoelastic Damping in Micro/nanoplates Applying Modified Coupled Stress Theory

Attitude and Heading Estimation for Indoor Positioning Based on the Adaptive Cubature Kalman Filter

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