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Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal

Nowadays, there are different methods used in the autonomous navigation task; current solutions include inertial navigation systems (INS). However, these systems present drift errors that are attenuated by the integration of absolute reference systems such as GPS, and antennas, among others. Consequ...

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Autores principales: Castro-Toscano, Moises J., Valdez-Rodríguez, Jorge Alejandro, Rodríguez-Quiñonez, Julio C., Flores-Fuentes, Wendy, Sergiyenko, Oleg, Trujillo-Hernández, Gabriel, Real-Moreno, Oscar
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Elsevier 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9988566/
https://www.ncbi.nlm.nih.gov/pubmed/36895371
http://dx.doi.org/10.1016/j.heliyon.2023.e13863
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author Castro-Toscano, Moises J.
Valdez-Rodríguez, Jorge Alejandro
Rodríguez-Quiñonez, Julio C.
Flores-Fuentes, Wendy
Sergiyenko, Oleg
Trujillo-Hernández, Gabriel
Real-Moreno, Oscar
author_facet Castro-Toscano, Moises J.
Valdez-Rodríguez, Jorge Alejandro
Rodríguez-Quiñonez, Julio C.
Flores-Fuentes, Wendy
Sergiyenko, Oleg
Trujillo-Hernández, Gabriel
Real-Moreno, Oscar
author_sort Castro-Toscano, Moises J.
collection PubMed
description Nowadays, there are different methods used in the autonomous navigation task; current solutions include inertial navigation systems (INS). However, these systems present drift errors that are attenuated by the integration of absolute reference systems such as GPS, and antennas, among others. Consequently, few works concentrate efforts on developing a methodology to reduce drift errors in INS due to the widespread practice of incorporating absolute references into their systems. However, absolute references must be placed beforehand, which is not always possible. This work presents an improvement on our methodological proposal IKZ for tracking and localization of moving objects by integrating a complementary filter (CF). The main contribution of this paper is the methodological proposal in the integration between IKZ and CF, maintaining the restrictive properties to the drift error and significantly improving the handling characteristics of the system in real applications. Furthermore, the IKZ/CF was tested with raw data from an MPU-9255 in order to analyze the results between tests.
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spelling pubmed-99885662023-03-08 Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal Castro-Toscano, Moises J. Valdez-Rodríguez, Jorge Alejandro Rodríguez-Quiñonez, Julio C. Flores-Fuentes, Wendy Sergiyenko, Oleg Trujillo-Hernández, Gabriel Real-Moreno, Oscar Heliyon Research Article Nowadays, there are different methods used in the autonomous navigation task; current solutions include inertial navigation systems (INS). However, these systems present drift errors that are attenuated by the integration of absolute reference systems such as GPS, and antennas, among others. Consequently, few works concentrate efforts on developing a methodology to reduce drift errors in INS due to the widespread practice of incorporating absolute references into their systems. However, absolute references must be placed beforehand, which is not always possible. This work presents an improvement on our methodological proposal IKZ for tracking and localization of moving objects by integrating a complementary filter (CF). The main contribution of this paper is the methodological proposal in the integration between IKZ and CF, maintaining the restrictive properties to the drift error and significantly improving the handling characteristics of the system in real applications. Furthermore, the IKZ/CF was tested with raw data from an MPU-9255 in order to analyze the results between tests. Elsevier 2023-02-23 /pmc/articles/PMC9988566/ /pubmed/36895371 http://dx.doi.org/10.1016/j.heliyon.2023.e13863 Text en © 2023 The Author(s) https://creativecommons.org/licenses/by-nc-nd/4.0/This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
spellingShingle Research Article
Castro-Toscano, Moises J.
Valdez-Rodríguez, Jorge Alejandro
Rodríguez-Quiñonez, Julio C.
Flores-Fuentes, Wendy
Sergiyenko, Oleg
Trujillo-Hernández, Gabriel
Real-Moreno, Oscar
Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title_full Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title_fullStr Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title_full_unstemmed Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title_short Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
title_sort determination of trajectories using ikz/cf inertial navigation: methodological proposal
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9988566/
https://www.ncbi.nlm.nih.gov/pubmed/36895371
http://dx.doi.org/10.1016/j.heliyon.2023.e13863
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