相关论文: Barometric Altimeter Assisted SINS/DR Combined Lan…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
In this paper, a new measurement system based on integration method is presented,which can provide all-weather dependability and higher precision for the measurement of FAST's feed support system. The measurement system consists of three…
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
Modern navigation systems rely critically on GNSS, which in many cases is unavailable or unreliable (e.g. due to jamming or spoofing). For this reason there is great interest in augmenting backup navigation systems such as inertial…
To obtain a high-accuracy position with SINS(Strapdown Inertial Navigation System), initial alignment needs to determine initial attitude rapidly and accurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain the initial…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…