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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

Velocity error in y-axis direction.
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Related In: Results  -  Collection


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fig16: Velocity error in y-axis direction.

Mentions: As shown in Figure 13, we set up simulation test scenarios. Simulation trajectory contains straight line and broken line. The simulation time is 200 s and the initial position is PO = (0,0). In the first stage, the initial acceleration on the X direction is 0.01 m/s2 and the y-axis direction is zero. After 90 seconds into the second stage, at point A, acceleration on the X direction keeps at 0.01 m/s2 and on the Y direction becomes 0.0025 m/s2; lasting time is 60 s to 110 s; this process is at the end of the point B. Then entering the final stage, the moving target makes a linear motion along the x-axis and the lasting time is 90 s. Simulation results are shown in Figures 14, 15, 16, 17, and 18. Initial system noise is Q0 = diag[2 × 10−3, 2 × 10−3, 2 × 10−3, 1 × 10−3, 1 × 10−3, 1.5 × 10−3, 1.5 × 10−3] and the initial measurement noise is R0 = diag[1 × 10−4, 1 × 10−4, 2 × 10−4, 2 × 10−4].


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)

Velocity error in y-axis direction.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig16: Velocity error in y-axis direction.
Mentions: As shown in Figure 13, we set up simulation test scenarios. Simulation trajectory contains straight line and broken line. The simulation time is 200 s and the initial position is PO = (0,0). In the first stage, the initial acceleration on the X direction is 0.01 m/s2 and the y-axis direction is zero. After 90 seconds into the second stage, at point A, acceleration on the X direction keeps at 0.01 m/s2 and on the Y direction becomes 0.0025 m/s2; lasting time is 60 s to 110 s; this process is at the end of the point B. Then entering the final stage, the moving target makes a linear motion along the x-axis and the lasting time is 90 s. Simulation results are shown in Figures 14, 15, 16, 17, and 18. Initial system noise is Q0 = diag[2 × 10−3, 2 × 10−3, 2 × 10−3, 1 × 10−3, 1 × 10−3, 1.5 × 10−3, 1.5 × 10−3] and the initial measurement noise is R0 = diag[1 × 10−4, 1 × 10−4, 2 × 10−4, 2 × 10−4].

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