Schmidt ST-EKF for Autonomous Land Vehicle SINS/ODO/LDV Integrated Navigation

Wang, Maosong; Cui, Jiarui; Huang, Yulong; Wu, Wenqi; Du, Xueyu

doi:10.1109/tim.2021.3122530

Cited by 22 publications

(9 citation statements)

References 27 publications

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“…The laser Doppler velocimeter (LDV) has been widely used in scientific research and industrial applications to measure various physical parameters since 1964 [11], including the velocity of flow [11,12], wind speed [13], vibration [14] and length [15]. And SINS/LDV integrated navigation system has been applied in land vehicle navigation since 2014 [16][17][18][19][20][21]. However, LDV was not employed in underwater environment to sense the velocity of the moving vehicle with respect to the bottom as the laser decays quickly in the water so that it is difficult for laser to persistently reach the seabed.…”

Section: Introductionmentioning

confidence: 99%

A water track laser Doppler velocimeter for use in underwater navigation

Huang,

Wang,

Xiang

et al. 2024

Meas. Sci. Technol.

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Doppler velocity log (DVL) is usually employed to suppress the divergency of the Strapdown Inertial Navigation System (SINS) in underwater navigation, which is not concealable due to high transmittance for acoustic wave in the water. To conduct underwater navigation task with high concealment, a differential laser Doppler velocimeter (LDV) working at water track mode is integrated with SINS in this paper. The developed LDV measures the advance velocity of the underwater carrier with respect to the surrounding water in underwater navigation scenario with advantages of high concealment, high real-time performance, high update rate, light weight, and small dimension. A dynamic river test was conducted to validate the underwater navigation performance of SINS/LDV integrated system. The experimental results show that during the voyage of 4493s and 5271.8m, the maximum horizontal positioning errors of the proposed SINS/LDV integrated underwater navigation system is 27.8m and the relative position error is less than 0.6% with respect to total distance. Therefore, the water track LDV is practical to aid SINS in underwater navigation environment.

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Section: Introductionmentioning

confidence: 99%

A water track laser Doppler velocimeter for use in underwater navigation

Huang,

Wang,

Xiang

et al. 2024

Meas. Sci. Technol.

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“…Compared with the odometer (OD) currently widely used on land vehicles, the characteristics of the LDV non-contact measurement makes the measurement value of the LDV independent of the state of the vehicle tire. This gives the LDV higher measurement accuracy and higher scale factor stability [7]. Moreover, for threedimensional LDV, the non-contact measurement also enables the LDV measurement value to be unaffected by the vehicle sideslip.…”

Section: Introductionmentioning

confidence: 99%

Online calibration method for SINS/LDV integrated navigation system based on left group error definition

Xiang,

Wang,

Jin

et al. 2024

Meas. Sci. Technol.

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The integration of strapdown inertial navigation system (SINS) and laser Doppler velocimeter (LDV) is a reliable technology for land vehicle positioning. To ensure the best positioning performance of the SINS/LDV integrated navigation system, it is necessary to calibrate it accurately. However, the accuracy of the error model of the traditional calibration method is seriously affected by the large misalignment angle, which in turn affects the accuracy and consistency of the filtering, and eventually leads to the decline of the calibration accuracy. Therefore, this paper introduces the Lie group theory for the first time into the calibration study of the SINS/LDV integrated navigation system. Based on the error state vector defined by the left group error definition in the Lie group, the three calibration models of the SINS/LDV integrated navigation system are derived in the Earth-centered Earth-fixed frame, using velocity, displacement increment, and dead reckoning (DR) position, which are the three common observation information. The most significant advantage of these calibration models is their ability to handle large initial misalignment angles. The calibration models proposed in this paper are comprehensively evaluated by two long-distance vehicle experiments. The test results show that under normal conditions (no large attitude misalignment angle and all sensors are working properly), the Lie group-based calibration methods have similar performance to the traditional calibration method, but they have significant advantages in the case of large initial attitude deviation. In addition, using displacement increment and DR position as observations improves calibration performance compared to velocity.

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“…The [22] defines the error in Lie group to address the inconsistency of EKF. The [23] [24] transform the traditional velocity error representation with a new velocity error considering the attitude error and proposed a state-transformed EKF (STEKF) to improve the consistency and accuracy of integrated navigation. The traditional state error is commonly defined as the algebraic difference of vectors without considering the vector's representation [25] [26].…”

Section: Introductionmentioning

confidence: 99%

“…Through introducing an auxiliary in Earth frame or adopting the GNSS-aided decomposition procedure in ENU fame can make the SINS mechanism satisfies group affine and further embed into IEKF framework [31]. From the common frame error definition perspective, state transformation techniques have been applied to the coordinateframe consistency of velocity error vector [23] [24], but not take the position error into consideration. Regardless of whether the SINS differential equation embedded on the group satisfies the group affine, the invariant error can be employed to construct the error state model, just as the traditional error definition can be utilized to model the error differential equation in different navigation frame.…”

Section: Introductionmentioning

confidence: 99%

Invariant Error-Based Integrated Solution for SINS/DVL in Earth Frame: Extension and Comparison

Tang

Chang

et al. 2023

IEEE Trans. Instrum. Meas.

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The error propagation of traditional strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) is not autonomous because its error state model is trajectorydependence. Recently, the invariant error defined on Lie group has raised much attention due to its trajectory-independent and autonomous error propagation. In this paper, the invariant errorbased Kalman filter for SINS/DVL integration solution is investigated with main focus on its extension and comparison. The contributions of this study are threefold. First, the invariant error defined on matrix Lie group (group of double direct isometrics) are extended to model the non-group-affine traditional SINS mechanism and the group-affine transformed SINS mechanism, both of them are derived in Earth frame and augmented with the drift and bias of the inertial measurement units (IMUs). Then, the observation equations for different invariant error-based state models are derived for SINS/DVL application, theoretical analysis is performed and comprehensive evaluation are conducted under different maneuvering condition by lake field trial. Finally, the variational Bayesian approach is introduced into invariant errorbased Kalman filter to inferring the inaccurate process noise covariance matrix (PNCM) and time-varying measurement noise covariant matrix (MNCM) from a practical perspective, experimental results demonstrate that it can improve the navigation accuracy significantly. This study is expected to facilitate the selection of appropriate invariant error to SINS/DVL application.

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Schmidt ST-EKF for Autonomous Land Vehicle SINS/ODO/LDV Integrated Navigation

Cited by 22 publications

References 27 publications

A water track laser Doppler velocimeter for use in underwater navigation

A water track laser Doppler velocimeter for use in underwater navigation

Online calibration method for SINS/LDV integrated navigation system based on left group error definition

Invariant Error-Based Integrated Solution for SINS/DVL in Earth Frame: Extension and Comparison

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