The central task of GPS/INS integration is to effectively blend GPS and INS data together generate an optimal solution. present fusion algorithms, which are mostly based on Kalman filtering (KF), have several limitations. One those limitations the stringent requirement precise a priori knowledge system models noise properties. Uncertainty in covariance parameters process (Q) observation errors (R) may significantly degrade performance. conventional way determining Q R relies intensive...

The Simultaneous Localization and Mapping (SLAM) technique has achieved astonishing progress over the last few decades generated considerable interest in autonomous driving community. With its conceptual roots navigation mapping, SLAM outperforms some traditional positioning localization techniques since it can support more reliable robust localization, planning, controlling to meet key criteria for driving. In this study authors first give an overview of different implementation approaches...

A scrutiny of the existing time differencing carrier phase (TDCP) velocity estimation algorithms has revealed several shortcomings that could be further improved. One these is at epoch t would require receiver positions +Δ or more are available. Another usage satellite velocities in calculations which increase computational load and degrade accuracy. In this paper, an improved TDCP approach been proposed tested. The new depends only on position . Satellite not required calculation. This...

The necessity for the precise time synchronization of measurement data from multiple sensors is widely recognized in field global positioning system/inertial navigation system (GPS/INS) integration. Having critical achieving high fusion performance. limitations and advantages various scenarios existing solutions are investigated this paper. A criterion evaluating accuracy requirements derived on basis a comparison Kalman filter innovation series platform dynamics. An innovative solution...

An integrated system of GPS and low cost Inertial Navigation System (INS) is often used to provide position, velocity attitude (PVA) information for navigating Unmanned Aerial Vehicles (UAV). One drawback that such systems can not the ground height during landing terrain following tasks which essential safety in near operations. Optic flow rate measurements be as additional observations data fusion process augment PVA estimation. Whilst this integration scheme effective, further research has...

In this paper, we propose a method of vision-based positioning with the use single camera and newly defined 3D maps for indoor localization navigation purposes. Our work here is to address accuracy reliability concerns an system. The main contribution will be adoption photogrammetric 6DOF pose estimation improve accuracy. DOPs are introduced evaluate precision within domain. Quality control strategies also applied detect outliers in observation strengthen system reliability. Besides, only...

ABSTRACT: Sigma-point Kalman filtering (SPKF) uses a set of sigma points to completely capture the first and second order moments priori random variable. Using SPKF, tightly-coupled GPS/INS integration can be designed in either navigation state space or error space. This paper approach blends INS model with nonlinear range range-rate equations, avoid time-consuming unscented transformation on strapdown computation which is needed when implementation occurs through The SPKF demonstrated its...

A new evaluation method was proposed in order to improve the reliability of special Skill Mechanical Operation Field. It analyzed relationship between index and operation skill, built fuzzy synthesis according request characteristic skill. Arrangement analysis used determine weight for decreasing influence subject factor. Fuzzy matrix based on set transformation principle. Finally, a measure system designed.

Reliability and integrity has become increasingly important in ubiquitous positioning systems, particularly critical applications. To implement reliability measures, Fault Detection Exclusion (FDE) procedures should be used. However, the current FDE chi-square test outlier are suboptimal terms of continuity availability. This is due to assumption that bias always corresponds with measurement largest Protection Level (PL), setting probability a predefined value rather than being maximised....