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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

PC interface in the experimental process.
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Related In: Results  -  Collection


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fig29: PC interface in the experimental process.

Mentions: In the process of dynamic positioning test, we have designed a set of computer software and PC interface in the experimental process is shown in Figure 29. Dynamic tracking results of attitude angle and position are shown in Figures 26, 27, and 28. Positioning error is ΔPUWB = (−0.18 m~0.56 m), ΔPINS/UWB = (−0.17 m~0.1 m), the average residual rate is RUWB = 7.3%, RINS/UWB = 4.8%, and the confidence coefficients are CUWB = 92.7% and CINS/UWB = 95.2%, respectively.


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)

PC interface in the experimental process.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig29: PC interface in the experimental process.
Mentions: In the process of dynamic positioning test, we have designed a set of computer software and PC interface in the experimental process is shown in Figure 29. Dynamic tracking results of attitude angle and position are shown in Figures 26, 27, and 28. Positioning error is ΔPUWB = (−0.18 m~0.56 m), ΔPINS/UWB = (−0.17 m~0.1 m), the average residual rate is RUWB = 7.3%, RINS/UWB = 4.8%, and the confidence coefficients are CUWB = 92.7% and CINS/UWB = 95.2%, respectively.

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