To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motio...To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied. According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS. Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration. Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.展开更多
This paper presents a new algorithm for de-noising global positioning system （GPS） and inertial navigation system （INS） data and estimates the INS error using wavelet multi-resolution analysis algorithm （WMRA）-b...This paper presents a new algorithm for de-noising global positioning system （GPS） and inertial navigation system （INS） data and estimates the INS error using wavelet multi-resolution analysis algorithm （WMRA）-based genetic algorithm （GA） with a well-designed structure appropriate for practical and real time implementations because of its very short training time and elevated accuracy. Different techniques have been implemented to de-noise and estimate the INS and GPS errors. Wavelet de-noising is one of the most exploited techniques that have been recently used to increase the precision and reliability of the integrated GPS/INS navigation system. To ameliorate the WMRA algorithm, GA was exploited to optimize the wavelet parameters so as to determine the best wavelet filter, thresholding selection rule （TSR）, and the optimum level of decomposition （LOD）. This results in increasing the robustness of the WMRA algorithm to estimate the INS error. The proposed intelligent technique has overcome the drawbacks of the tedious selection for WMRA algorithm parameters. Finally, the proposed method improved the stability and reliability of the estimated INS error using real field test data.展开更多
The standard spheroidal reference surface also referred as the reference ellipsoid is a part of mapping basic infrastructures of a country. In Cameroon, the ellipsoid Clarke 1880 with unknown parameters used for a lon...The standard spheroidal reference surface also referred as the reference ellipsoid is a part of mapping basic infrastructures of a country. In Cameroon, the ellipsoid Clarke 1880 with unknown parameters used for a long time as reference system in basic mapping, has lead to the use of World Geodetic System 1984 (WGS 84) whose parameters are well known. Meanwhile, the latter is not accurate locally due to the fact that the best ellipsoid is the one that fits very well with the local geoid. In order to look for the parameters of the local ellipsoid that fits best to the local geoid (Cameroon Geoid Model 2011 (CGM11)), the Global Positionning System (GPS) data made of 525 geodetic ground control points of the new geodetic network of Cameroon set up in 2011 were used. These GPS measures provide for each point the values of the ellipsoid height and the elevation which are used to determine the parameters of the local ellipsoid model for Cameroon through the least square form of the Molodensky analytical method. The results are given as the difference in ellipsoidal height relative to the parameters of the WGS84 ellipsoid assuming the two ellipsoids in their parallel. These results show that the obtained ellipsoid fits better to the local geoid with 1.072 m as the standard deviation value, is improved considerably in comparison to the previous studies conducted in Cameroon whose standard deviation was fairly equal to 1.679 m.展开更多
文摘To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied. According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS. Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration. Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.
基金supported in part by Graduate School of Studies through the Graduate Research Fellowship (GRF) sponsored by University Putra Malaysia
文摘This paper presents a new algorithm for de-noising global positioning system （GPS） and inertial navigation system （INS） data and estimates the INS error using wavelet multi-resolution analysis algorithm （WMRA）-based genetic algorithm （GA） with a well-designed structure appropriate for practical and real time implementations because of its very short training time and elevated accuracy. Different techniques have been implemented to de-noise and estimate the INS and GPS errors. Wavelet de-noising is one of the most exploited techniques that have been recently used to increase the precision and reliability of the integrated GPS/INS navigation system. To ameliorate the WMRA algorithm, GA was exploited to optimize the wavelet parameters so as to determine the best wavelet filter, thresholding selection rule （TSR）, and the optimum level of decomposition （LOD）. This results in increasing the robustness of the WMRA algorithm to estimate the INS error. The proposed intelligent technique has overcome the drawbacks of the tedious selection for WMRA algorithm parameters. Finally, the proposed method improved the stability and reliability of the estimated INS error using real field test data.
文摘The standard spheroidal reference surface also referred as the reference ellipsoid is a part of mapping basic infrastructures of a country. In Cameroon, the ellipsoid Clarke 1880 with unknown parameters used for a long time as reference system in basic mapping, has lead to the use of World Geodetic System 1984 (WGS 84) whose parameters are well known. Meanwhile, the latter is not accurate locally due to the fact that the best ellipsoid is the one that fits very well with the local geoid. In order to look for the parameters of the local ellipsoid that fits best to the local geoid (Cameroon Geoid Model 2011 (CGM11)), the Global Positionning System (GPS) data made of 525 geodetic ground control points of the new geodetic network of Cameroon set up in 2011 were used. These GPS measures provide for each point the values of the ellipsoid height and the elevation which are used to determine the parameters of the local ellipsoid model for Cameroon through the least square form of the Molodensky analytical method. The results are given as the difference in ellipsoidal height relative to the parameters of the WGS84 ellipsoid assuming the two ellipsoids in their parallel. These results show that the obtained ellipsoid fits better to the local geoid with 1.072 m as the standard deviation value, is improved considerably in comparison to the previous studies conducted in Cameroon whose standard deviation was fairly equal to 1.679 m.
