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GNSS/INS Fusion with Virtual Lever-Arm Measurements

The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publi...

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Detalles Bibliográficos
Autores principales: Borko, Aviram, Klein, Itzik, Even-Tzur, Gilad
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6069284/
https://www.ncbi.nlm.nih.gov/pubmed/29997325
http://dx.doi.org/10.3390/s18072228
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author Borko, Aviram
Klein, Itzik
Even-Tzur, Gilad
author_facet Borko, Aviram
Klein, Itzik
Even-Tzur, Gilad
author_sort Borko, Aviram
collection PubMed
description The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publications showed that the lever-arm, defined as the relative position between the INS and aiding sensor, has a strong influence on navigation accuracy. Most research in this field is focused on INS/GNSS fusion with GNSS position or velocity updates while considering various maneuvers types. In this paper, we propose to employ virtual lever-arm (VLA) measurements to improve the accuracy and time to convergence of the observable INS error-states. In particular, we show that VLA measurements improve performance even in stationary conditions. In situations when maneuvering helps to improve state observability, VLA measurements manage to gain additional improvement in accuracy. These results are supported by simulation and field experiments with a vehicle mounted with a GNSS and an INS.
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spelling pubmed-60692842018-08-07 GNSS/INS Fusion with Virtual Lever-Arm Measurements Borko, Aviram Klein, Itzik Even-Tzur, Gilad Sensors (Basel) Article The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publications showed that the lever-arm, defined as the relative position between the INS and aiding sensor, has a strong influence on navigation accuracy. Most research in this field is focused on INS/GNSS fusion with GNSS position or velocity updates while considering various maneuvers types. In this paper, we propose to employ virtual lever-arm (VLA) measurements to improve the accuracy and time to convergence of the observable INS error-states. In particular, we show that VLA measurements improve performance even in stationary conditions. In situations when maneuvering helps to improve state observability, VLA measurements manage to gain additional improvement in accuracy. These results are supported by simulation and field experiments with a vehicle mounted with a GNSS and an INS. MDPI 2018-07-11 /pmc/articles/PMC6069284/ /pubmed/29997325 http://dx.doi.org/10.3390/s18072228 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Borko, Aviram
Klein, Itzik
Even-Tzur, Gilad
GNSS/INS Fusion with Virtual Lever-Arm Measurements
title GNSS/INS Fusion with Virtual Lever-Arm Measurements
title_full GNSS/INS Fusion with Virtual Lever-Arm Measurements
title_fullStr GNSS/INS Fusion with Virtual Lever-Arm Measurements
title_full_unstemmed GNSS/INS Fusion with Virtual Lever-Arm Measurements
title_short GNSS/INS Fusion with Virtual Lever-Arm Measurements
title_sort gnss/ins fusion with virtual lever-arm measurements
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6069284/
https://www.ncbi.nlm.nih.gov/pubmed/29997325
http://dx.doi.org/10.3390/s18072228
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