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
An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） s...An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.展开更多
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.
基金co-supported by the National Key Research and Development Program of China(No.2016YFC0803103)Beijing Advanced Innovation Center for Future Urban Design(No.UDC2016050100)Beijing Postdoctoral Research Foundation
文摘An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.
