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Fast Self-Alignment Technology for Hybrid Inertial navigation Systems Based on a New Two-Position Analytic Method

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第4期67卷 3226-3235页

作者： Liu, Bingqi Wei, Shihui Lu, Jiazhen Wang, Jiping Su, Guohua High Tech Inst Xian Xian 710025 Peoples R China Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100083 Peoples R China Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100191 Peoples R China

Initial alignment technology is a key technology for inertial navigation systems (INSs) because the speed and accuracy of the initial alignment determine the working accuracy and rapid response capability of the INS. Thus, the initial alignment technique of an INS must be investigated. In a swaying base environment, traditional alignment methods cannot meet the requirements of alignment accuracy due to the occurrence of interference acceleration and angular velocity, and filtering methods do not perform well in practical and universal applications. This paper studies the self-alignment problem for the swaying base of a rotary strapdown inertial navigation system and uses the latest hybrid inertial navigation system (HINS) as the research platform. Using the double-position rotation strategy, a navigation algorithm based on an updated attitude transformation matrix and a dynamic error compensation algorithm are established, and they effectively resolve the fast and high-precision self-alignment problem of the rotary inertial navigation system (RINS) under the oscillating state. The accuracy and feasibility of the method are demonstrated by mathematical simulations. Experiments show that compared with traditional single-position and continuous-rotation alignment methods, the proposed dynamic self-alignment technology of HINS has the advantages of short alignment time, high alignment accuracy, and dynamic environment adaptability.

关键词： Dynamic error compensation hybrid inertial navigation navigation algorithm self-alignment

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Bearings-Only Guidance in Cis-Lunar Rendezvous

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2021年第10期44卷 1862-1874页

作者： D'Onofrio, Fabio Bucchioni, Giordana Innocenti, Mario Univ Pisa Dept Informat Engn Via Caruso 16 I-56122 Pisa Italy

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navigation algorithm for Mobile Robots Using WSN

Navigation Algorithm for Mobile Robots Using WSN

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International Conference on Computer, Electrical and Electronics Engineering (ICCEEE)

作者： Elfadil, Osman Mudthir Omdurman Islamic Univ Dept Elect & Elect Engn Omdurman Sudan

ISBN: (纸本)9781467362313;9781467362320

navigation is defined as the problem of getting from one place to another in an efficient manner. This is a significant and fundamental problem in robotics. In this paper a new navigation algorithm for mobile robot was proposed. In our navigation system, the robot can navigate autonomously with aid of a wireless sensor network (WSN) so that the additional entity such as the middleware-server is not needed. So this system can be constructed at low cost, and high accuracy.

关键词： wireless sensor network navigation algorithm

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Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion

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Chinese Journal of Aeronautics 2013年第2期26卷 442-448页

作者： Wang Zhenhuan Chen Xijun Zeng Qingshuang Space Control and Inertial Technology Research Center Harbin Institute of Technology

For the navigation algorithm of the strapdown inertial navigation system, by comparing to the equations of the dual quaternion and quaternion, the superiority of the attitude algorithm based on dual quaternion over the ones based on rotation vector in accuracy is analyzed in the case of the rotation of navigation frame. By comparing the update algorithm of the gravitational velocity in dual quaternion solution with the compensation algorithm of the harmful acceleration in traditional velocity solution, the accuracy advantage of the gravitational velocity based on dual quaternion is addressed. In view of the idea of the attitude and velocity algorithm based on dual quaternion, an improved navigation algorithm is proposed, which is as much as the rotation vector algorithm in computational complexity. According to this method, the attitude quaternion does not require compensating as the navigation frame rotates. In order to verify the correctness of the theoretical analysis, simulations are carried out utilizing the software, and the simulation results show that the accuracy of the improved algorithm is approximately equal to the dual quaternion algorithm.

关键词： Dual quaternion Inertial navigation system navigation algorithm Quaternion Rotation vector

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Cooperative navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2020年第11期17卷 624-633页

作者： Yang, Chizhao Strader, Jared Gu, Yu Canciani, Aaron Brink, Kevin West Virginia Univ Dept Mech & Aerosp Engn Morgantown WV 26506 USA US Air Force Inst Technol Dept Elect Engn 2950 Hobson Way Wright Patterson AFB OH 45433 USA US Air Force Res Lab Bldg 13101 Eglin Blvd Eglin AFB FL 32547 USA

The problem of cooperative localization for a small group of unmanned aerial vehicles (UAVs) in a Global navigation Satellite System-denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperative ranging localization, formulated as an extended Kalman filter, estimates each UAV's relative pose inside the group using intervehicle ranging measurements;second, an algorithm named cooperative magnetic localization, formulated as a particle filter, estimates each UAV's global pose through matching the group's magnetic anomaly measurements to a given magnetic anomaly map. In this study, each UAV is assumed to only perform a ranging measurement and data exchange with one other UAV at any point in time. A simulator is developed to evaluate the algorithms with magnetic anomaly maps acquired from airborne geophysical survey. The simulation results show that the average estimated position error of a group of 16 UAVs is approximately 20 m after flying about 180 km in 1 h. Sensitivity analysis shows that the algorithms can tolerate large variations of velocity, yaw rate, and magnetic anomaly measurement noises. Additionally, the UAV group shows improved position estimation robustness with both high- and low-resolution maps as more UAVs are added into the group.

关键词： UAV Extended Kalman Filter Yaw GNSS Sensitivity Analysis Monte Carlo Simulation Cumulative Distribution Function navigation Performance navigation algorithm Earth

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A navigation and control algorithm for the position tracking of underwater vehicles 22

A navigation and control algorithm for the position tracking...

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22nd Mediterranean Conference on Control and Automation (MED)

作者： Alonge, F. D'Ippolito, F. Univ Palermo Dipartimento Energia Ingn Informaz & Modelli Mate Viale Sci Ed 10 I-90128 Palermo Italy

ISBN: (纸本)9781479959013

In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position tracking control of an underactuated underwater vehicle.

关键词： autonomous underwater vehicles parameter estimation path planning position control tracking calibration parameter estimation differential kinematics inversion estimation algorithm kinematic control algorithm marine current navigation algorithm position measurements position tracking control position tracking error underactuated underwater vehicle Calibration Estimation Kinematics Mathematical model navigation Vectors Vehicles

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A Comparison of Feature Extraction Methods for Terrain Relative navigation

A Comparison of Feature Extraction Methods for Terrain Relat...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Majji, Manoranjan Simon, Andrew B. Restrepo, Carolina I. Lovelace, Ronney Texas A&M Univ LASR Lab College Stn TX 77834 USA Texas A&M Univ Aerosp Engn College Stn TX 77834 USA NASA Goddard Space Flight Ctr Greenbelt MD USA NASA Johnson Space Ctr Houston TX USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Various image feature extraction methods are compared for terrain relative navigation applications. Qualitative and quantitative performance measures to evaluate the utility of the relevant feature identification methods are discussed to form a basis for this comparison process. A medium-fidelity terrain relative navigation emulation test-bed called navigation, Estimation and Tracking (NEST) test-bed is utilized to generate terrain and range measurements to facilitate the evaluation process.

关键词： Terrain Relative navigation Speeded Up Robust Features Image Processing Johnson Space Center Feature Detection Sensor Technology LIDAR Sensor Information Processing navigation algorithm Mathematical Models

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Collision-free navigation of Flying Robots in Outdoor Environments with Dynamic Obstacles 6

Collision-free Navigation of Flying Robots in Outdoor Enviro...

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6th International Conference on Control, Automation and Robotics (ICCAR)

作者： Zhang, Yang Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW Australia

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161396

In this paper, a collision-free navigation algorithm for flying robots is proposed. The algorithm is applied to three-dimensional environments with dynamic obstacles. Shapes of moving obstacles may be non-convex, motion of the obstacles is variable. The algorithm is a sliding mode control law, switching between two modes, the target approaching mode and the obstacle avoidance mode. Mathematical analysis of the proposed algorithm is given. Simulation results are also provided in order to demonstrate its performance. Compared with other approaches, the algorithm is a really practical one as the constraints of the obstacles are not too hard to be satisfied. Moreover, the proposed algorithm is computationally efficient.

关键词： lying robots navigation algorithm obstacle avoidance dynamic environments non-convex constraints

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Behavior-Based navigation of an Autonomous Hexapod Robot Using a Hybrid Automaton

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2021年第2期102卷 29-29页

作者： Khazaee, Mostafa Sadedel, Majid Davarpanah, Atoosa Tarbiat Modares Univ Dept Mech Engn Tehran Iran

The hexapod robot is one of the important classes in legged robots due to its great potential to operate in complex settings with high stability and flexibility. However, few researches have investigated the navigation and autonomous locomotion of this type of robot. This paper concerns with the behavior-based control and navigation of an autonomous hexapod robot utilizing a hybrid automaton. Switching between the distinct behaviors is based on the sensory data, and no representation of the environment is included. Since these systems are likely to rise chattering phenomenon, a sliding mode including clockwise and counter-clockwise boundary following behaviors are considered between the goal attraction and obstacle avoidance modes to modify the automaton. The hybrid automaton undertakes the path planning of a reference point instead of the robot. Thus, in order to be able to implement the navigation algorithm, the hexapod robot is converted to a point mass robot within two transformations. A parameter study is also performed to investigate the effects of the controllers' design parameters on the performance of the navigation algorithm and robot. The results show that enhancing the smoothness of the robot's motion would deteriorate the precision in tracking the reference point and the reaction speed and vice versa. Moreover, simulation tests confirm the effectiveness of the navigation algorithm in generating the optimal path by perfectly switching between distinct modes as well as the capability of the robot to follow the reference point with an arbitrary gait. Furthermore, comparing the performance of the presented navigation strategy to that of similar algorithms, such as Bug and Potential field, yields a satisfying result.

关键词： Hybrid system navigation algorithm Autonomous Hexapod robot Mobile robot

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Accuracy improvement in motion-measurement using frequency-weighted Kalman filter

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IET RADAR SONAR AND navigation 2020年第1期14卷 89-96页

作者： Shaghaghian, Alireza Karimaghaee, Paknoosh Shiraz Univ Sch Elect & Comp Engn Shiraz Iran

Accurate antenna motion-measurement is an essential pre-condition for synthetic aperture radar (SAR) to produce well-focused images. The measurement accuracy at high and low frequencies affects the quality of images and the geolocation error. Hence, motion compensation and focusing techniques require a minimum degree of accuracy in the radar motion measurements. The Inertial Measurement Unit (IMU) sensor selection process is done based on the SAR parametric requirements. The IMU instruments have inherent limited precision and accuracy, which are significantly related to the technology and the cost. The navigation algorithm may improve the precision and accuracy to overcome the limitations of the IMU sensor. This study intends to improve motion measurement accuracy using frequency-weighted state estimation. The proposed algorithm shows an error reduction in state estimation and an improvement in some parameter indices which are in relation to SAR image quality and geolocation. Two innovative algorithms are proposed in this study. The first one is the frequency-weighted Kalman filter which is an improved form of the Kalman filter. Another one is multi-resolution decomposition which is an approach to evaluate the SAR motion measurement system.

关键词： synthetic aperture radar radar imaging state estimation radar antennas Kalman filters motion compensation motion measurement frequency-weighted Kalman filter accurate antenna motion-measurement essential pre-condition synthetic aperture radar well-focused images high frequencies geolocation error motion compensation focusing techniques radar motion measurements Inertial Measurement Unit sensor selection process SAR parametric requirements IMU instruments navigation algorithm IMU sensor motion measurement accuracy frequency-weighted state estimation error reduction improved form SAR motion measurement system

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