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Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking.

Fan Q, Wu Y, Hui J, Wu L, Yu Z, Zhou L - ScientificWorldJournal (2014)

Bottom Line: Simulation results show that the two subsystems are complementary.Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed.Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment.

View Article: PubMed Central - PubMed

Affiliation: Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, China.

ABSTRACT
In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

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Related in: MedlinePlus

East velocity error with different sensor error.
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Related In: Results  -  Collection


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fig6: East velocity error with different sensor error.

Mentions: The simulation results show that when we consider the drift of inertial device in SINS, corresponding system error increases. According to the attitude angle error results (Figures 2, 3, and 4), we know that, with the inertial device drift and random noise increasing, the attitude angle error of carrier amplitude increases, but it does not show the tendency of divergence. Overall angle error is controlled within ±2° and the maximum of yaw angle error is −1.491°. Because of acceleration and gyroscope drift, the velocity error amplitude increases rapidly. As shown in Figures 5 and 6, the maximum value of northern velocity is −98.3 m/s, and, according to the speed integral of the carrier, we know that there is divergence feature for positioning error obviously, as shown in Figure 7, which embodies the imperfection of using the pure inertial navigation system for carrier location; namely, due to the inertial device drift and random error, location information will cause serious losing of the reliability within a short time and will be not suitable for the carrier positioning.


Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking.

Fan Q, Wu Y, Hui J, Wu L, Yu Z, Zhou L - ScientificWorldJournal (2014)

East velocity error with different sensor error.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4121039&req=5

fig6: East velocity error with different sensor error.
Mentions: The simulation results show that when we consider the drift of inertial device in SINS, corresponding system error increases. According to the attitude angle error results (Figures 2, 3, and 4), we know that, with the inertial device drift and random noise increasing, the attitude angle error of carrier amplitude increases, but it does not show the tendency of divergence. Overall angle error is controlled within ±2° and the maximum of yaw angle error is −1.491°. Because of acceleration and gyroscope drift, the velocity error amplitude increases rapidly. As shown in Figures 5 and 6, the maximum value of northern velocity is −98.3 m/s, and, according to the speed integral of the carrier, we know that there is divergence feature for positioning error obviously, as shown in Figure 7, which embodies the imperfection of using the pure inertial navigation system for carrier location; namely, due to the inertial device drift and random error, location information will cause serious losing of the reliability within a short time and will be not suitable for the carrier positioning.

Bottom Line: Simulation results show that the two subsystems are complementary.Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed.Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment.

View Article: PubMed Central - PubMed

Affiliation: Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, China.

ABSTRACT
In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

Show MeSH
Related in: MedlinePlus