Journal ArticleDOI
Quantization and Colored Noises Error Modeling for Inertial Sensors for GPS/INS Integration
Songlai Han,Jinling Wang +1 more
TLDR
In this article, a modified inertial navigation system (INS) error dynamics is developed, and the quantization noise is incorporated into the modified INS error dynamics as augmenting driving noise.Abstract:
In this paper, modeling approaches for quantization and colored noises have been proposed. To accommodate the quantization noise, a modified inertial navigation system (INS) error dynamics is developed in this paper, and the quantization noise is incorporated into the modified INS error dynamics as augmenting driving noise. The three kinds of colored noises are modeled by using an equivalent differential equation driven by a unit white noise, and a technique is developed in this paper to augment the Kalman Filter of GPS/INS integration using this equivalent differential equation. Experimental test results show that the proposed stochastic error modeling approaches for quantization and colored noises significantly improves the accuracies of the estimated inertial drifts and the navigation solutions.read more
Citations
More filters
Journal ArticleDOI
Effective Adaptive Kalman Filter for MEMS-IMU/Magnetometers Integrated Attitude and Heading Reference Systems
Wei Li,Jinling Wang +1 more
TL;DR: In this article, an adaptive Kalman filter (AKF) with linear models is proposed to improve the computational efficiency and dynamic performance of low cost Inertial Measurement Unit (IMU)/magnetometer integrated Attitude and Heading Reference Systems (AHRS).
Journal ArticleDOI
Decentralized INS/GNSS System With MEMS-Grade Inertial Sensors Using QR-Factorized CKF
TL;DR: In this article, the authors proposed a QR-factorized cubature Kalman filter (CKF) structure for estimation of the orientation attitude-heading angles and the 3D position/velocity components.
Journal ArticleDOI
A Multi-Sensor Positioning Method-Based Train Localization System for Low Density Line
TL;DR: A BDS/INS/odometer/map-matching (MM) positioning methodology for train navigation applications is proposed to solve the problem of positioning during BDS outages when trains pass through signal obstructed areas such as under bridges, inside tunnels, and through deep valleys.
Journal ArticleDOI
Fiber-Optic Gyroscope Signal Denoising Using an Adaptive Robust Kalman Filter
TL;DR: In this article, an adaptive robust Kalman filter (KF) and a variant of this are applied to minimize the random noise in interferometric fiber-optic gyroscope (IFOG).
Journal ArticleDOI
Optimal Data Fusion Algorithm for Navigation Using Triple Integration of PPP-GNSS, INS, and Terrestrial Ranging System
Wei Jiang,Yong Li,Chris Rizos +2 more
TL;DR: A robust georeferencing system that could satisfy centimeter-level accuracy requirements in port environments is described and three integration algorithms are investigated and implemented into a triple-integrated PPP-GNSS/Locata/INS integrated system.
References
More filters
Journal ArticleDOI
Statistics of atomic frequency standards
TL;DR: In this paper, a theoretical analysis of the relationship between the expectation value of the standard deviation of the frequency fluctuations for any finite number of data samples and the infinite time average value of a standard deviation is presented.
Book
Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems
TL;DR: In this paper, the authors present a single-source reference for navigation systems engineering, providing both an introduction to overall systems operation and an in-depth treatment of architecture, design, and component integration.
Journal ArticleDOI
Analysis and Modeling of Inertial Sensors Using Allan Variance
TL;DR: The theoretical basis for the Allan variance for modeling the inertial sensors' error terms and its implementation in modeling different grades of inertial sensor units are covered.
Book
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition
TL;DR: The second edition of the Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems as discussed by the authors offers a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching.