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Since the MIMU/GPS has advantages of low-cost and small-size, it can be widely used in the field of vehicle navigation. For the traditional MIMU/GPS integrated navigation system, the Kalman filter is used to fuse the information of MIMU and GPS to achieve the goal of navigation and positioning of vehicle. GPS provides users with highly accurate three-dimensional position and velocity informations...
The P-code generator is a critical component in P-code acquisition. The model of the generator is used to determine the register's initial states. Consider the model is mainly consisted of six dividers, all of which have fixed width of dividend and divisor; two novel designs of divider based on the digit-recurrence division algorithm are presented that can improve the area-consuming and latency compared...
Multi-sensors system is designed for realizing autonomous mobile of outdoor robot. GPS, two laser range finders, encode, electronics compass and camera are used to obtain the feeling information for outdoor autonomous mobile robot. Based on multithread technology, the data acquisition program of outdoor autonomous mobile robot is developed. This method can improve data synchronism and real time from...
This paper is to introduce the fuzzy control for the experimental autonomous airship. The basic technology that includes the hardware of the system and the program to control the airship navigating along the shortest flight path to the target point is developed. Fuzzy control is used because the control for an airship is nonlinear and it is difficult to describe the accurate motional equations of...
An improved adaptive extended Kalman filtering algorithm is proposed here to estimate the measurement noise on-line for the SINS/GPS integrated navigation systems. The measurement remnant chi-square method is used to automatically adjust the sliding window basing on the innovation sequence. The experiment result shows that this new approach could improve the accuracy of the integrated navigation system...
This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GPS/INS navigation systems. Usually, an extended Kalman filter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view,...
The objective of this paper is to analyze the estimation performance of gyroscope drifts in INS/GPS integrated navigation systems, while system is in motion. Strapdown inertial navigation system (SINS) error model is augmented by inertial sensor bias and drift and GPS clock bias and drift to improve the integration performance. To estimate the augmented state error, instead of GPS position, GPS pseudoranges...
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