Download or read book The Performance Analysis of 3D Digital Information Aided Algorithm for Seamless INS GPS Integrated Navigation System written by 李怡萱 and published by . This book was released on 2012 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Computer Aided Algorithms Based on Mathematics and Machine Learning for Integrated GPS and INS Land Vehicle Navigation Systems written by Deepak Bhatt and published by . This book was released on 2014 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: An integrated navigation system consisting of INS and GPS is usually preferred due to the reduced dependency on GPS-only navigator in an area prone to poor signal reception or affected by multipath. The performance of the integrated system largely depends upon the quality of the Inertial Measurement Unit (IMU) and the integration methodology. Considering the restricted use of high grade IMU and their associated price, low-cost IMUs are becoming the preferred choice for civilian navigation purposes. MEMS based inertial sensors have made possible the development of civilian land vehicle navigation as it offers small size and low-cost. However, these low-cost inertial sensors possess high inherent sensor errors such as biases, drift, noises etc. As a result, the accuracy of the integrated system degrades rapidly in a GPS denied environment. Thus, an accurate in-lab calibration and modeling of inertial sensor errors become mandatory before being deployed. This dissertation introduces a Support Vector Regression (SVR) based IMU error modeling approach for improving the low-cost navigation system accuracy. A low-cost MEMS based IMU offered by cloud cap technology, Crista IMU is used to evaluate the SVR based error modeling approach effectiveness. Alternatively, the IMU derived navigation solution and GPS data is fused to output the more reliable navigation solution and model the errors in the inertial navigation solution simultaneously. This fusion and error modeling continues during the GPS signal availability. In the case of GPS outages, the developed error model is utilized to improve the integrated navigation system accuracy. Thus, in a continued effort to improve the standalone low-cost IMU derived navigation solution reliability during GPS outages, an intelligent technique utilizing neural networks and a hybrid of mathematics and support vector based fusion algorithms are proposed fusing INS and GPS data in an open and closed loop fashion. The performance of the proposed techniques and algorithm is evaluated using real field test data utilizing low-cost MEMS IMU, Crossbow IMU 300CC-100 and a Novatel OEM GPS receiver. The test results demonstrated the improved positioning accuracy in comparison to existing techniques and showed a substantial reduction in standalone Inertial Navigation System (INS) position error drift during GPS outages. Further, a feasibility of statistical based approaches consisting of Cubist, Random Forest and Support Vector Regression is evaluated for a low-cost INS and GPS integrated system. Through experimental demonstration, Random forest regression was found to be a suitable candidate for INS and GPS data fusion as it offers the least training time and ability to tuned the parameter automatically.

Download or read book Observability and Performance Analysis of Integrated GPS INS Navigation Systems written by Yunfeng Shao and published by . This book was released on 2006 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Aided Navigation GPS with High Rate Sensors written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 2008-04-03 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS

Download or read book Intelligent Information Processing for Inertial Based Navigation Systems written by Chong Shen and published by Springer Nature. This book was released on 2021-01-04 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces typical inertial devices and inertial-based integrated navigation systems, gyro noise suppression, gyro temperature drift error modeling compensation, inertial-based integrated navigation systems under discontinuous observation conditions, and inertial-based brain integrated navigation systems. Integrated navigation is the result of the development of modern navigation theory and technology. The inertial navigation system has the advantages of strong autonomy, high short-term accuracy, all-day time, all weather, and so on. And it has been applied in most integrated navigation systems. Among them, the information processing of inertial-based integrated navigation system is the core technology. Due to the effect of the device mechanism and working environment, there are errors in the output information of the inertial-based integrated navigation system, including gyroscope noise, temperature drift, and discontinuous observations, which will seriously reduce the accuracy and robustness of the system. And the book helps readers to solve these problems. The intelligent information processing technology involved is equipped with simulation verification, which can be used as a reference for undergraduate, graduate, and Ph.D. students, and also scientific researchers or engineers engaged in navigation-related specialties.

Download or read book Fundamentals of Inertial Navigation Satellite based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-28 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Download or read book The Global Positioning System Inertial Navigation written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 1999-01-21 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: With GPS and INS hardware becoming ever smaller and less expensive, innovative opportunities for commercial navigation systems are everywhereÑand continue to arise. Integrated GPS/INS systems have some real advantages, in terms of output rate, reliability, and accuracy. The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. This in-depth text provides navigation system designers comprehensive and accurate coverage of such topics as coordinate frames and transformations, Kalman filtering techniques, navigation system performance analysis, GPS receiver ephemeris and pseudo-range processing, differential GPS, carrier phase processing, and attitude determination. Extensively cross-referenced to the literature on advanced navigation system design, this superb engineering reference is ideal for navigation systems designers, analysts, and project managers.

Download or read book Global Positioning Systems Inertial Navigation and Integration written by Mohinder S. Grewal and published by Wiley-Interscience. This book was released on 2001 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function of model parameters * Implementing the mechanization equations in numerically stable algorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance in operation In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy. An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.

Download or read book Key Technologies in Low Cost Integrated Vehicle Navigation Systems written by Yueming Zhao and published by LAP Lambert Academic Publishing. This book was released on 2013 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: A vehicle navigation system can consist of several sensors: GPS, INS, odometers, cameras etc. The Micro Electrical Mechanical Sensors (MEMS) are cheap alternative to more expensive inertial sensors, but they suffer from larger errors. The MEMS stochastic errors are analysed with different methods. GPS/MEMS integration is introduced and navigation errors are analysed based on analytical error propagation studies and on real tests. Moreover, the GPS/MEMS combination is augmented by map matching and camera observations of detected objects (lines and points). The robust BLAVE (Balanced Least Absolute Value Estimator) method is introduced and applied on the estimation of camera motion parameters. Comparisons with the traditional RANSAC algorithm are also presented. Finally the dynamic GPS/MEMS error model is augmented with equivalent coloured noise model and its performance is tested on simulated data coming from multiple MEMS sensors.

Download or read book INS CNS GNSS Integrated Navigation Technology written by Wei Quan and published by Springer. This book was released on 2015-01-22 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book not only introduces the principles of INS, CNS and GNSS, the related filters and semi-physical simulation, but also systematically discusses the key technologies needed for integrated navigations of INS/GNSS, INS/CNS, and INS/CNS/GNSS, respectively. INS/CNS/GNSS integrated navigation technology has established itself as an effective tool for precise positioning navigation, which can make full use of the complementary characteristics of different navigation sub-systems and greatly improve the accuracy and reliability of the integrated navigation system. The book offers a valuable reference guide for graduate students, engineers and researchers in the fields of navigation and its control. Dr. Wei Quan, Dr. Jianli Li, Dr. Xiaolin Gong and Dr. Jiancheng Fang are all researchers at the Beijing University of Aeronautics and Astronautics.

Download or read book The Design and Analysis of Integrated Navigation Systems Using Real INS and GPS Data written by and published by . This book was released on 1994 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: An extended Kalman filter (EKF) is used to combine the information obtained from a Global Positioning System (GPS) receiver and an Inertial Navigation System (INS) to provide a navigation solution. This research compares the results of an actual tightly-coupled GPS/INS integrated system with those obtained in computer simulation. Differences between the simulation and actual hardware results, such as navigation solutions and tuning values, are shown in the research. An analysis of various GPS models was studied to determine the best representation for a system truth model. Measurement updates and their effects upon position accuracies was considered and preliminary research was conducted to determine when a feedback implementation was advantageous over a feedforward approach. The results suggest that the computer simulations being used at the Air Force Institute of Technology (AFIT) produce better navigation solutions than are actually possible with real hardware. Alternate system truth models were found which would estimate the errors of an actual system more accurately with less computational loading.

Download or read book Advances in 3D Image and Graphics Representation Analysis Computing and Information Technology written by Roumen Kountchev and published by Springer Nature. This book was released on 2020-05-01 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers selected papers presented at the conference “Advances in 3D Image and Graphics Representation, Analysis, Computing and Information Technology,” one of the first initiatives devoted to the problems of 3D imaging in all contemporary scientific and application areas. The aim of the conference was to establish a platform for experts to combine their efforts and share their ideas in the related areas in order to promote and accelerate future development. This second volume discusses algorithms and applications, focusing mainly on the following topics: 3D printing technologies; naked, dynamic and auxiliary 3D displays; VR/AR/MR devices; VR camera technologies; microprocessors for 3D data processing; advanced 3D computing systems; 3D data-storage technologies; 3D data networks and technologies; 3D data intelligent processing; 3D data cryptography and security; 3D visual quality estimation and measurement; and 3D decision support and information systems.

Download or read book Smartphone Based 3D Indoor Localization and Navigation written by Frank Ebner and published by Logos Verlag Berlin GmbH. This book was released on 2021-01-10 with total page 351 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last century, navigation systems have become ubiquitous and guide drivers, cyclists, and pedestrians towards their desired destinations. While operating worldwide, they rely on line-of-sight conditions towards satellites and are thus limited to outdoor areas. However, finding a gate within an airport, a ward within a hospital, or a university's auditorium also represent navigation problems. To provide navigation within such indoor environments, new approaches are required. This thesis examines pedestrian 3D indoor localization and navigation using commodity smartphones: A desirable target platform, always at hand and equipped with a multitude of sensors. The IMU (accelerometer, gyroscope, magnetometer) and barometer allow for pedestrian dead reckoning, that is, estimating relative location changes. Absolute whereabouts can be determined via Wi-Fi, an infrastructure present within most public buildings, or by using Bluetooth Low Energy Beacons as inexpensive supplement. The building's 3D floorplan not only enables navigation, but also increases accuracy by preventing impossible movements, and serves as a visual reference for the pedestrian. All aforementioned information is fused by recursive density estimation based on a particle filter. The conducted experiments cover both, theoretical backgrounds and real-world use-cases. All discussed approaches utilize the infrastructure found within most public buildings, are easy to set up, and maintain. Overall, this thesis results in an indoor localization and navigation system that can be easily deployed, without requiring any special hardware components.

Download or read book A Study of GPS INS Integrated Navigation with Artificial Neural Network and K means Aided Kalman Filter written by Rui Chen (Researcher on electrical and electronic engineering) and published by . This book was released on 2017 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Applied Mathematics in Integrated Navigation Systems written by Robert M. Rogers and published by AIAA. This book was released on 2003 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: Descripción dele ditor: "The subject of integrated navigation systems covered in this book is designed for those directly involved with the design, integration, and test and evaluation of navigation systems. It is assumed that the reader has a background in mathematics, including calculus. Integrated navigation systems are the combination of an onboard navigation solution (position, velocity, and attitude) and independent navigation data (aids to navigation) to update or correct navigation solutions. In this book, this combination is accomplished with Kalman filter algorithms. Elements of basic mathematics, kinematics, equations describing navigation systems/sensors and their error models, aids to navigation, and Kalman filtering are developed. Detailed derivations are presented and examples are given to aid in the understanding of these elements of integrated navigation systems. Problems are included to expand the application of the materials presented. The third edition includes additional background material, exercises and software. The added material includes: development of general form for Earth's gravitational potential with simplification to an ellipsoid model; development of satellite orbital equations for position and velocity and the impact of non-spherical earth gravitation on satellite orbital parameters; and illustrations in the development of derivative-free Kalman filters including the Unscented and Divided Difference filter forms. Additional exercises are included that expand and supplement the material in the text and demonstrate properties of the Kalman filter. Additional software is included in this edition for simulating random processes and derivative-free filter implementations. This edition provides a more complete foundation for addressing the different aspects of integrated navigation systems.This BookApplied Mathematics in Integrated Navigation Systems, Third Edition coverCopyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc.https://doi.org/10.2514/4.861598Supplemental MaterialsPricesHardbackMember: $74.95List: $94.95Not an AIAA Member? Join today and start saving!Site Tools Sign up for e-alerts RSS" (ARC).

Download or read book Optimal Kalman Filter Integration of a Global Positioning System Receiver and an LN 94 Inertial Navigation System written by James L. Hirning and published by . This book was released on 1990 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This research develops and attempts to implement a Kalman filter integration of a Phase III Global Positioning System (GPS) five-channel receiver and an LN-94 Inertial Navigation System (INS). The GPS provides highly accurate position and velocity information in low dynamic environments. An INS provides position and velocity information with lower accuracy over long periods of time, but it is highly responsive in dynamic maneuvers or at high frequencies. The INS has the added advantage of requiring no signals external to the vehicle to function. The integration of these two systems provide more precise information under a wider variety of situations. A truth model for the INS is verified. A GPS error model is developed and combined with the INS model to provide GPS- aided INS navigation. This model is used to predict baseline performance of all full-ordered filter. Attempts are made to utilize the filter with empirical data. The data is analyzed, and suggestions are made about ways to account for the errors in evidence. Results to date are presented and analyzed. Keywords: Global positioning system, Inertial navigation system, GPS/INS Integration, GPS- aided-INS, Theses.

Download or read book Real Time Fusion of Image and Inertial Sensors for Navigation written by J. Fletcher and published by . This book was released on 2007 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: As evidenced by many biological systems, the fusion of optical and inertial sensors represents an attractive method for passive navigation. In our previous work, a rigorous theory for optical and inertial fusion was developed for precision navigation applications. The theory was based on a statistical transformation of the feature space based on inertial sensor measurements. The transformation effectively constrained the feature correspondence search to a given level of a priori statistical uncertainty. When integrated into a navigation system, the fused system demonstrated performance in indoor environments which were comparable to that of GPS-aided systems. In order to improve feature tracking performance, a robust feature transformation algorithm "Lowe?s SIFT" was chosen. The SIFT features are ideal for navigation applications in that they are invariant to scale, rotation, and illumination. Unfortunately, there exists a correlation between feature complexity and computer processing time. This limits the effectiveness of robust feature extraction algorithms for real-time applications using traditional microprocessor architectures. While recent advances in computer technology have made image processing more commonplace, the amount of information that can be processed is still limited by the power and speed of the CPU. In this paper, a new theory which exploits the highly parallel nature of General Programmable Graphical Processing Units "GPGPU" is developed which supports deeply integrated optical and inertial sensors for real-time navigation. Recent advances in GPGPU technology have made realtime, image-aided navigation a reality. Our approach leverages the existing OpenVIDIA core GPGPU library and commercially available computer hardware to solve the image and inertial fusion problem. The open-source libraries are extended to include the statistical featur.