INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV
نویسندگان
چکیده
منابع مشابه
INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV
This paper addresses the problem of integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) for the purpose of developing a low-cost, robust and highly accurate navigation system for unmanned surface vehicles (USVs). A tightly-coupled integration approach is one of the most promising architectures to fuse the GNSS data with INS measurements. However, the re...
متن کاملTightly-coupled INS/GPS using Quaternion-based Unscented Kalman filter
PS receiver has dominated the field of positioning and navigation for decades [1]. However, its performance depends on the signal environments. It provides a continuous navigation solution only when more than four satellites are in view. In order to solve this problem, other navigation systems, e.g., inertial navigation system, are often employed to integrate with GPS for having a robust and co...
متن کاملTightly coupled GPS/INS integration for missile applications Tightly-coupled GPS/INS Integration für unbemannte Fluggeräte
An approach to enhance the performance of tightly coupled GPS/INS systems is described. First, the advantages of tightly coupled systems compared to loosely coupled systems are clarified. Then, it is shown in hardware-in-the-loop tests and in a test drive that processing time differenced carrier phase measurements instead of delta-range measurements results in an increased velocity and attitude...
متن کاملImprovement of Navigation Accuracy using Tightly Coupled Kalman Filter
In this paper, a mechanism is designed for integration of inertial navigation system information (INS) and global positioning system information (GPS). In this type of system a series of mathematical and filtering algorithms with Tightly Coupled techniques with several objectives such as application of integrated navigation algorithms, precise calculation of flying object position, speed and at...
متن کاملSigma-Point Kalman Filtering for Tightly Coupled GPS/INS Integration
ABSTRACT This paper describes the design and implementation of a tightly coupled integration of the Global Positioning System (GPS) and Inertial Navigation System (INS) based on the sigma-point Kalman filtering (SPKF) method. The SPKF uses a set of sigma points to completely capture the first and second order moments of the apriori random variable. In contrast to extended Kalman filtering (EKF)...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2016
ISSN: 1424-8220
DOI: 10.3390/s16081215