تبلیغات

مترجم سایت

Elctrical-Control-Engineering - GNSS/INS INTEGRATION OVERVIEW
 
Elctrical-Control-Engineering
درباره وبلاگ


The department’s research activities encompass several broad areas, reflecting the multi-disciplinary nature of the control and mechatronics field. These include:


• Smart sensors and actuators
• Process tomography
• Intelligent machines
• Advanced and intelligent control algorithms
• Process control and its advancements
• Real-time control system
• Robot design and intelligent robot controllers
• Modeling and control of mechatronic systems
• Industrial automations
• Nanotechnology-based mechatronics and robotics

مدیر وبلاگ :
نویسندگان
آمار وبلاگ
  • کل بازدید :
  • بازدید امروز :
  • بازدید دیروز :
  • بازدید این ماه :
  • بازدید ماه قبل :
  • تعداد نویسندگان :
  • تعداد کل پست ها :
  • آخرین بازدید :
  • آخرین بروز رسانی :
1.4  GNSS/INS INTEGRATION OVERVIEW
1.4.1  The Role of Kalman Filtering
It has been called “navigation’s integration workhorse” [23] for the essential
role it has played in navigation and especially for integrating different navigation  modes.  Ever  since  its  introduction  in  1960  [20],  the  Kalman  filter  has
played a major role in the design and implementation of most new navigation
systems as a statistically optimal method for estimating position using noisy
measurements. Because the filter also produces an estimate of its own accuracy, it has also become an essential part of a methodology for the optimal
design  of  navigation  systems.  The  Kalman  filter  has  been  essential  for  the
design and implementation of every GnSS. It is unlikely that the first GnSS
(GPS) could have been built without it.
using  the  Kalman  filter,  navigation  systems  designers  have  been  able  to
exploit  a  powerful  synergism  between  GnSSs  and  InSs,  which  is  possible
because they have very complementary error characteristics:
• Short-term position  errors  from  the  InS  are  relatively  small,  but  they
degrade significantly over time.
• GnSS position accuracies, on the other hand, are not as good over the
short term, but they do not degrade with time.
The  Kalman  filter  takes  advantage  of  these  characteristics  to  provide  a
common, integrated navigation implementation with performance superior to
that of either subsystem (GnSS or InS). By using statistical information about
the errors in both systems, it is able to combine a system with tens of meters
position uncertainty (GnSS) with another system whose position uncertainty
degrades at kilometers per hour (InS) and achieve bounded position uncertainties in the order of centimeters (with differential GnSS) to meters.
GnSS/InS InTEGrATIOn OvErvIEW  31
1.4.2  Implementation
The Kalman filter solves for the solution with the least mean-squared error
by  using  data  weighting  proportional  to  statistical  information  content  (the
inverse  of  uncertainty)  in  the  measured  data.  It  combines  GnSS  and  InS
information to
1.  track drifting parameters of the sensors in the InS, so that InS performance does not degrade with time when GnSS is available
2.  improve overall performance even when there are insufficient satellite
signals for obtaining a complete GnSS solution
3.  allow the InS to navigate with improved initial error whenever GnSS
signals become unavailable
4.  improve GnSS  signal  reacquisition  when  GnSS  signals  become  available again by providing better navigation solutions (based on InS data)
5.  use acceleration and attitude rate information from the InS for reducing
the  signal  phase-tracking  filter  lags  in  the  GnSS  receiver,  which  can
significantly improve GnSS reliability during periods of high maneuvering, jamming, or reduced signal availability.
The  more  intimate  levels  of  GnSS/InS  integration  necessarily  penetrate
deeply into each of the subsystems in that it makes use of partial results that
are  not  ordinarily  accessible  to  users. To  take  full  advantage  of  the  offered
integration  potential,  we  must  delve  into  technical  details  of  the  designs  of
both types of systems.
1.4.3  Applications
1.4.3.1  Military Applications The  rationale  for  developing  the navistar
GPS system was based, in part, on economic considerations—in terms of how
many inertial systems it could replace. However, the ability to integrate GPS
with InS also enabled military applications that were not possible before. It
would lead to a new generation of high-precision military weaponry, improving military effectiveness while reducing collateral damage. Most missiles were
already  using  inertial  sensors  for  guidance  and  control,  so  the  transition  to
integrated GnSS/InS navigation was natural.
Most military applications of inertial navigation were already using other
navigation aids for limiting the growth of inertial navigation errors with time.
The u.S. navy had begun using satellites for aiding shipboard inertial navigation  decades  before  GnSS  became  available,  and  most  military  InSs  were
being adapted to use GPS before it was operational. It has resulted in superior
navigation performance at low marginal cost.
1.4.3.2  Civilian and Commercial Applications The availability of GnSS
also  allowed  for  integrated  GnSS/InS  navigation  systems  accurate  enough  
32  InTrODuCTIOn
for automated grading, plowing, and surface mining. The resulting relaxation
of inertial sensor stability requirements and advances in fabrication technologies have also combined to lower costs to the point where low-performance
GnSS/InS  systems  can  be  embedded  in  high-end  consumer  products. This
market is likely to grow even more as costs fall due to increasing production
volumes.
Details of Section 1.4 are given in Chapters 10 through 12




نوع مطلب :
برچسب ها :
لینک های مرتبط :

       نظرات
دوشنبه 23 شهریور 1394
پنجشنبه 19 مهر 1397 11:48 ب.ظ

You actually stated it superbly!
levitra 20 mg cheap 20mg levitra levitra 10 mg kopen levitra 20 mg buy levitra levitra 20 mg bayer prezzo buy levitra 10mg levitra 20 mg buy levitra 20 mg generic levitra
سه شنبه 10 مهر 1397 01:23 ب.ظ

Thanks a lot! Quite a lot of tips.

cialis sicuro in linea how to buy cialis online usa american pharmacy cialis cialis reviews we choice cialis uk cialis 5 mg schweiz cialis pills cialis generico postepay online prescriptions cialis are there generic cialis
یکشنبه 8 مهر 1397 08:32 ق.ظ

Very good info. Many thanks!
ou acheter du cialis pas cher cialis online napol canadian discount cialis cialis 30 day trial coupon cialis herbs callus canadian cialis cialis 5 mg buy cialis 5 mg buy canadian discount cialis
سه شنبه 27 شهریور 1397 08:04 ب.ظ

This is nicely said! !
cialis 20 mg cost we use it 50 mg cialis dose only best offers 100mg cialis link for you cialis price tadalafilo tadalafil 20mg cialis 5 mg funziona cialis en 24 hora generic cialis only best offers cialis use
پنجشنبه 15 شهریور 1397 09:56 ق.ظ

Perfectly expressed genuinely! .
wow look it cialis mexico no prescription cialis cheap cialis online cialis e hiv cialis flussig canadian cialis click here cialis daily uk buy cialis sample pack prezzo di cialis in bulgaria low cost cialis 20mg
چهارشنبه 14 شهریور 1397 01:42 ق.ظ

Fantastic forum posts. Appreciate it.
canadian pharmacy king canadian drugstore canada online pharmacies surrey canadianpharmacyusa24h is it legal is trust pharmacy in canada legitimate canada online pharmacy canadian pharmacy world best canadian pharmacies online buy viagrow buy viagrow pro
سه شنبه 13 شهریور 1397 07:20 ق.ظ

Whoa a good deal of fantastic facts.
buying cheap viagra online buy cheap viagra canada pfizer viagra viagra cheap uk where can i purchase viagra buy genuine viagra online get viagra prescription where to buy real viagra online viagra for cheap prices buy generic viagra usa
دوشنبه 12 شهریور 1397 11:22 ب.ظ

Nicely put, Appreciate it.
cialis kaufen bankberweisung ou trouver cialis sur le net viagra vs cialis vs levitra rx cialis para comprar cialis uk compare prices cialis uk female cialis no prescription brand cialis nl tadalafil 20mg callus
دوشنبه 12 شهریور 1397 05:43 ق.ظ

Fantastic stuff. With thanks.
chinese cialis 50 mg prezzo cialis a buon mercato cialis generika in deutschland kaufen 40 mg cialis what if i take cialis dose 30mg viagra vs cialis generic cialis bulk cialis cialis professional yohimbe overnight cialis tadalafil
یکشنبه 11 شهریور 1397 03:17 ب.ظ

You expressed this superbly.
cialis generisches kanada tadalafil 20 mg we like it safe cheap cialis cialis online generic cialis cialis 5mg cialis price thailand purchasing cialis on the internet cialis online holland generic cialis tadalafil
دوشنبه 22 مرداد 1397 08:27 ب.ظ

Cheers. Helpful information.
purchasing cialis on the internet prezzo di cialis in bulgaria cialis arginine interactio cialis super acti prices on cialis 10 mg no prescription cialis cheap we choice cialis uk costo in farmacia cialis generic cialis tadalafil generic cialis 20mg uk
دوشنبه 7 خرداد 1397 06:47 ق.ظ

You expressed this really well.
cialis pills price each how does cialis work we recommend cialis info cialis canadian drugs cialis bula cialis daily compare prices cialis uk buy generic cialis i recommend cialis generico cialis generico in farmacia
جمعه 7 اردیبهشت 1397 09:52 ب.ظ

Wonderful info. Thanks a lot!
cialis flussig compare prices cialis uk acquistare cialis internet we like it safe cheap cialis cialis 5 effetti collaterali comprar cialis navarr tadalafil 20 mg brand cialis generic cialis with 2 days delivery buy online cialis 5mg
سه شنبه 4 اردیبهشت 1397 12:03 ب.ظ

Very good content. Regards.
can you buy viagra at walgreens order viagra online uk buy viagra online ireland how do i order viagra online get viagra buy viagra low cost best place to buy generic viagra online how to buy viagra on line viagra uk prescription buy generic sildenafil online
دوشنبه 28 اسفند 1396 07:56 ق.ظ

You mentioned it well!
cialis arginine interactio tadalafil 20 mg 5 mg cialis coupon printable cialis generico in farmacia cialis savings card cialis for sale in europa generic cialis 20mg tablets preis cialis 20mg schweiz warnings for cialis we recommend cialis best buy
سه شنبه 17 مرداد 1396 06:41 ق.ظ
Hey! Someone in my Facebook group shared this site with us so I
came to look it over. I'm definitely enjoying the information. I'm bookmarking and
will be tweeting this to my followers! Great blog and superb design and style.
 
لبخندناراحتچشمک
نیشخندبغلسوال
قلبخجالتزبان
ماچتعجبعصبانی
عینکشیطانگریه
خندهقهقههخداحافظ
سبزقهرهورا
دستگلتفکر