TY - GEN
T1 - Non-holonomic Constraints Aided SINS Integration for Autonomous Land Navigation without External Sensors
AU - Sun, Yiding
AU - Yang, Gongliu
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - Strapdown inertial navigation system (SINS) based vehicle weapon system increases great significance in land navigation. In order to obtain considerable navigation performance, SINS based integrated navigation is required to implemented. However, the popular aided sensor such as Global-Positioning-System (GPS) is not regarded as autonomous sensor. The autonomous sensor such as odometer can be also damaged in practical applications. In this paper, we utilize non-holonomic constraints (NHC) to aid SINS without external sensors. The measurements of NHC include zero lateral velocity and zero vertical velocity in vehicle orthogonal reference frame. Then, the close-loop Kalman filter can be implemented for SINS/NHC integrated navigation. The simulation results show that the SINS/NHC integrated navigation can estimate all the error states with specific movements. Moreover, SINS/NHC can achieve considerable position navigation performance. Therefore, the proposed method can realize autonomous land navigation without external sensors.
AB - Strapdown inertial navigation system (SINS) based vehicle weapon system increases great significance in land navigation. In order to obtain considerable navigation performance, SINS based integrated navigation is required to implemented. However, the popular aided sensor such as Global-Positioning-System (GPS) is not regarded as autonomous sensor. The autonomous sensor such as odometer can be also damaged in practical applications. In this paper, we utilize non-holonomic constraints (NHC) to aid SINS without external sensors. The measurements of NHC include zero lateral velocity and zero vertical velocity in vehicle orthogonal reference frame. Then, the close-loop Kalman filter can be implemented for SINS/NHC integrated navigation. The simulation results show that the SINS/NHC integrated navigation can estimate all the error states with specific movements. Moreover, SINS/NHC can achieve considerable position navigation performance. Therefore, the proposed method can realize autonomous land navigation without external sensors.
KW - Kalman filter
KW - autonomous land navigation
KW - non-holonomic-constraints
KW - strapdown inertial navigation system
KW - without external sensors
UR - https://www.scopus.com/pages/publications/85116376156
U2 - 10.1109/ICISCE50968.2020.00387
DO - 10.1109/ICISCE50968.2020.00387
M3 - 会议稿件
AN - SCOPUS:85116376156
T3 - Proceedings - 2020 7th International Conference on Information Science and Control Engineering, ICISCE 2020
SP - 1972
EP - 1975
BT - Proceedings - 2020 7th International Conference on Information Science and Control Engineering, ICISCE 2020
A2 - Li, Shaozi
A2 - Dai, Ying
A2 - Ma, Jianwei
A2 - Cheng, Yun
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Information Science and Control Engineering, ICISCE 2020
Y2 - 18 December 2020 through 20 December 2020
ER -