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A New Efficient Filtering Model for GPSSINS Ultratight Integration System
المؤلفون المشاركون
Jiang, Changhui
Wang, Chaochen
Bo, Yuming
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-03-19
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
Global Positioning System (GPS) and strap-down inertial navigation system (SINS) are recognized as highly complementary and widely employed in the community.
The GPS has the advantage of providing precise navigation solutions without divergence, but the GPS signals might be blocked and attenuated.
The SINS is a totally self-contained navigation system which is hardly disturbed.
The GPS/SINS integration system could utilize the advantages of both the GPS and SINS and provide more reliable navigation solutions.
According to the data fusion strategies, the GPS/SINS integrated system could be divided into three different modes: loose, tight, and ultratight integration (LI, TI, and UTC).
In the loose integration mode, position and velocity difference from the GPS and SINS are employed to compose measurement vector, in which the vector dimension has nothing to do with the amount of the available satellites.
However, in the tight and ultratight modes, difference of pseudoranges and pseudorange rates from the GPS and SINS are employed to compose the measurement vector, in which the measurement vector dimension increases with the amount of available satellites.
In addition, compared with the loose integration mode, clock bias and drift are included in the integration state model.
The two characteristics magnify the computation load of the tight and ultratight modes.
In this paper, a new efficient filter model was proposed and evaluated.
Two schemes were included in this design for reducing the computation load.
Firstly, a difference between pseudorange measurements was determined, by which clock bias and drift were excluded from the integration state model.
This step reduced the dimension of the state vector.
Secondly, the integration filter was divided into two subfilters: pseudorange subfilter and pseudorange rate subfilter.
A federated filter was utilized to estimate the state errors optimally.
In the second step, the two subfilters could run in parallel and the measurement vector was divided into two subvectors with lower dimension.
A simulation implemented in MATLAB software was conducted to evaluate the performance of the new efficient integration method in UTC.
The simulation results showed that the method could reduce the computation load with the navigation solutions almost unchanged.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wang, Chaochen& Bo, Yuming& Jiang, Changhui. 2020. A New Efficient Filtering Model for GPSSINS Ultratight Integration System. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1202024
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wang, Chaochen…[et al.]. A New Efficient Filtering Model for GPSSINS Ultratight Integration System. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1202024
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wang, Chaochen& Bo, Yuming& Jiang, Changhui. A New Efficient Filtering Model for GPSSINS Ultratight Integration System. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1202024
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1202024
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