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This article presents the details of a new 3-axis simulator for spacecraft attitude control research and simulation. The air bearing allows the test bed to rotate about three axes with tiny friction. The attitude determination system consists of three fibre optical gyros, an inclinometer and a magnetometer. The actuator of the system consists of three reaction flywheels and four control moment gyros...
Using forward method with the aid of DEM data is a feasible way to solve reference map problem of gradient aided navigation currently. However, there still remains a difference between the forward result and the actual gradient, which can easily lead to an estimation error of Extended Kalman Filter (EKF). The residual density is the main error resource in the forward model. After analyzes a Fourier...
An all-attitude estimation algorithm for low cost attitude and heading reference system using extended Kalman filter based on modified Rodrigues parameters is designed. Aiming at the shortage of redundancy when using quaternion to describe attitude, modified Rodrigues parameters which are a three-dimensional independent vector are proposed for attitude representation. By switching between the modified...
The alignment of the airborne gravity system has a high demand of the precision which has an obvious contrary on the alignment time cost. The possibility and feasibility of the alignment using position matching is discussed in depth. Simulation and field data tests show potential of this method for the usage in the static ground case.
The MEMS based SINS initial alignment with large azimuth is a nonlinear and non-Gaussian filtering problem. The particle filter (PF), is a popular estimation method for such problems. In order to realize initial alignment for MEMS based SINS combined with magnetic compass, a particle filterer method which uses an Extended Kalman Filter (EKF) to generate the mean and covariance of the importance proposal...
In this paper, we proposed a method to fuse data from radar and IR sensor in Extend Kalman probability hypothesis density (EK-GMPHD) filter. Firstly the multi-target is estimated with infrared (IR) sensor using EK-GMPHD filter, and then the filtering results are fused with measurements from radar through sequential filter, in this way, the multi-target state is updated at the tracking system. Under...
Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) are very practical method to get high precision navigation. GPS/INS data Fusion in navigation has been a research topic for decades. Usually the update time of GPS an INS is different. The update time of GPS is 20 HZ, and the time of INS is 100 HZ or higher. Since GPS and INS are mainly methods in navigation system...
When the plant of an integrated SINS/GPS navigation system dynamics or noise processes are not exactly known, or the noise processes are not zero mean white noise, divergence problems will occur. In this paper, a based on intelligent information fusion technology -fuzzy neural network adaptive system is used to adjust the exponential weighting of a weighted Kalman filtering and prevent it from divergence...
Simultaneous localization and mapping (SLAM) is a key research content of robot autonomous navigation, the visual monocular SLAM based on Extend Kalman Filter(EKF) is one important method to handle this problem. But due to high computational complexity, it has strict limits on the number and stability of the feature points, traditional method selects few corners like or straight lines as feature points,...
Based on the Kalman filtering method and white noise estimation theory, under linear minimum variance information fusion criterion weighted by scalars, a multisensor optimal information fusion white noise deconvolution filter is presented for multisensor systems with system deviation,ARMA colored measurement noise and white noise. The formula of computing cross-covariances among filtering errors of...
Considering the characteristic and computation superiority of quaternion representing body attitude movement information, and aiming at the initial alignment procedure of strap-down inertial navigation system (SINS) with large initial misalignment angles, this paper develops its multiplicative quaternion error model. With the faults analysis of traditional quaternion mean calculation methods, it developed...
Multipath is one of the dominant error sources of code tracking in indoor and other harsh environments. In this research work, a new colored noise unscented Kalman filter (UKF) is introduced to estimate the multipath parameters of weak GPS signal. For improving the carrier to noise ratio, it uses a block-averaging signal pre-processing method (BAP) to process the received weak GPS signal. The signal...
It is important to maintain the identity of multiple targets while tracking them in some applications such as behavior understanding. However, unsatisfying tracking results may be produced due to different real-time conditions. These conditions include: inter-object occlusion, occlusion of the ocjects by background obstacles, splits and merges, which are observed when objects are being tracked in...
Based on weighted least squares method(WLS), a equivalent fusion measurement equation is obtained for the multisensor linear discrete stochastic time-invariant system with unknown noise statistics and the measurement matrices having the same right factor. Using the modern time series analysis method, based on on-line identification of the moving average(MA) innovation model parameters, unknown noise...
This paper presents a new solution to the problem of simultaneous localization and mapping (SLAM). Traditional extended Kalman filter (EKF) based SLAM (EKF-SLAM) algorithms describe unknown environments with simple geometric elements, such as points for landmarks. This limits the EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The solution proposed...
This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF...
This paper present a Residuals Chi-square Test Method (RCTM) and an Autonomous Integrity monitoring by Extrapolation Method (AIME) for the integrity monitoring of integrated GNSS/SINS system. Firstly the tightly coupled integrated architectures and Kalman filer are designed, then a detailed investigation of the capability of the RCTM and AIME algorithms to deal with the step and ramp failure are carried...
This paper presents a new GPS and DR integration based navigation system for mobile robots in substation environments for inspection. An adaptive federated Kalman filtering algorithm is put forward to realize information fusion. Experiments have also been carried out to verify the functionalities of the system.
The motivation of INS/GPS integration is to develop a navigation system that overcomes the shortcomings of each system. Its implementation is essentially based on the filter techniques and error models of INS. If the model changes with the environment, the estimation accuracy is degraded. In this paper, an Interacting Multiple Model Unscented Kalman Filter (IMM-UKF) method was proposed to jointly...
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