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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

Coupled model diagram of INS and UWB.
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Related In: Results  -  Collection


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fig10: Coupled model diagram of INS and UWB.

Mentions: INS and UWB are two separate systems and the coupling model is built in order to make the complementary advantages, as shown in Figure 10. According to the coupling model, INS/UWB integrated navigation is realized by using feedback correction method in this paper. On the one hand, attitude and velocity error of INS are input to the Kalman filter. On the other hand, position error can be got by difference of output parameters between INS and UWB. Based on the estimates value of attitude error, velocity error, and position error, output correction is made for the navigation parameters.


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)

Coupled model diagram of INS and UWB.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig10: Coupled model diagram of INS and UWB.
Mentions: INS and UWB are two separate systems and the coupling model is built in order to make the complementary advantages, as shown in Figure 10. According to the coupling model, INS/UWB integrated navigation is realized by using feedback correction method in this paper. On the one hand, attitude and velocity error of INS are input to the Kalman filter. On the other hand, position error can be got by difference of output parameters between INS and UWB. Based on the estimates value of attitude error, velocity error, and position error, output correction is made for the navigation parameters.

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