Journal ArticleDOI
A novel backtracking navigation scheme for Autonomous Underwater Vehicles
TLDR
A novel backtracking navigation scheme is employed that is able to reach the accuracy of within 0.3% of the distance travelled and can be launched without waiting for the completeness of the alignment.Citations
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Journal ArticleDOI
Initial Alignment for a Doppler Velocity Log-Aided Strapdown Inertial Navigation System With Limited Information
Lubin Chang,Yang Li,Boyang Xue +2 more
TL;DR: An ingenious alignment scheme for a Doppler velocity log-aided strapdown inertial navigation system with only the initial velocity and position information is proposed, which can not only align the attitude to high precision within very short time, but also determine the velocity andposition with satisfied accuracy.
Journal ArticleDOI
INS/DVL/PS Tightly Coupled Underwater Navigation Method With Limited DVL Measurements
TL;DR: A method based on the tightly coupled approach for INS/DVL integrated navigation with limited DVL beam measurements is proposed, in which depth updates from a pressure sensor generally equipped by most autonomous underwater vehicles (AUVs) are applied.
Journal ArticleDOI
In-Motion Initial Alignment for Odometer-Aided Strapdown Inertial Navigation System Based on Attitude Estimation
TL;DR: This paper investigates the in-motion initial alignment for odometer-aided strapdown inertial navigation system and proposes an attitude estimation-based alignment method through ingeniously attitude matrix decomposition and velocity rate equation reconstruction, which cannot be handled adequately by the attitude estimation structure.
Journal ArticleDOI
A Novel Autonomous Initial Alignment Method for Strapdown Inertial Navigation System
TL;DR: The experimental results show that the proposed DMIA algorithm can achieve a rapid and accurate in-motion alignment, and introduces the idea of constructing multiple calculation loops for an IMU to maximize the advantages of SINS.
Journal ArticleDOI
Backtracking Integration for Fast Attitude Determination-Based Initial Alignment
Lubin Chang,Baiqing Hu,Yang Li +2 more
TL;DR: By incorporating the backward navigation concept into the newly developed attitude determination-based initial alignment (ADIA) method, a fast initial alignment method is proposed that can be used more adequately with the proposed method, resulting in a much improved performance.
References
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DissertationDOI
Accuarcy improvement of low cost INS/GPS for land applications
TL;DR: Some of the techniques that overcome the limitations of lowcost IMUs are introduced, i.e. the in-filed calibration, the velocity matching alignment, and the use of non-holonomic constraints.
Journal ArticleDOI
Improving Adaptive Kalman Estimation in GPS/INS Integration
TL;DR: This paper investigates the utilization of an online stochastic modelling algorithm with regards to its parameter estimation stability, convergence, optimal window size, and the interaction between Q and R estimations, and proposes a new adaptive process noise scaling algorithm.
Journal ArticleDOI
Navigation Technologies for Autonomous Underwater Vehicles
TL;DR: It is concluded that only geophysically referenced methods will enable AUVs to navigate accurately over large areas and that advances in underwater feature recognition are required before these methods can be implemented in operational AUVs.
Journal ArticleDOI
Coarse Alignment of a Ship's Strapdown Inertial Attitude Reference System Using Velocity Loci
TL;DR: A novel estimation method for fast initial coarse alignment of a ship's strapdown inertial attitude reference system using only inertial measurement unit (IMU) measurements for quasi-static alignment and IMU measurements with GPS aiding for moving-base alignment is presented.
Related Papers (5)
A Fast SINS Initial Alignment Scheme for Underwater Vehicle Applications
Optimization-based alignment for inertial navigation systems: Theory and algorithm
Velocity/Position Integration Formula Part I: Application to In-Flight Coarse Alignment
Yuanxin Wu,Xianfei Pan +1 more