Article
Engineering, Electrical & Electronic
Ding Yuan, Yongyuan Qin, Zongwei Wu, Xiaowei Shen
Summary: This article introduces a newly developed emergency positioning system that integrates GEO satellite Doppler frequency observation and INS for accurate positioning in the absence of GNSS. Experimental results show that the system can achieve positioning accuracy within tens of meters, providing emergency positioning in case of GNSS interference.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Chemistry, Analytical
Qingyun Zhang, Jian Yang, Panpan Huang, Xin Liu, Shanpeng Wang, Lei Guo
Summary: This paper proposes a bionic autonomous positioning mechanism integrating INS with a bioinspired polarization compass to address the problem of positioning accumulative errors of the inertial navigation system. The accuracy and environmental adaptability of the integrated positioning system are improved by a sun elevation calculating method based on the degree of polarization and direction of polarization. Results from outdoor experiments show that the proposed bioinspired positioning system can compensate for the position errors of INS with satisfactory performance.
Article
Engineering, Electrical & Electronic
Wang Guangcai, Xiaosu Xu, Tao Zhang
Summary: The MMCKF is a method that combines M-M estimation and nonlinear CKF to enhance the performance of INS/GPS integration system, capable of addressing both the contamination of predicted state and measurement by non-Gaussian noise, as well as the issue of large initial attitude error.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Engineering, Multidisciplinary
Wenwei Liang, Kui Li, Qihang Li
Summary: This paper proposes an anti-spoofing integrated navigation method that detects and corrects spoofing signals received by the GPS receiver using the error propagation characteristics of inertial navigation and the Kalman filter. This method effectively improves the accuracy and robustness of integrated navigation.
Article
Remote Sensing
Bofeng Li, Guang'e Chen
Summary: GNSS/INS combined technology is widely used for high-precision positioning outdoors. However, the performance of this system can be affected by long-term obstruction or interference with satellite signals. This limitation can be overcome by integrating additional sensors, but at an increased cost. The study focuses on enhancing the GNSS/INS combined technique using Tightly integrated Real-Time Kinematic (TRTK) technology, particularly in harsh environments. The results demonstrate that the TRTK-specified GNSS/INS combined model significantly improves positioning accuracy, especially when there is severe satellite signal occlusion.
Article
Computer Science, Information Systems
Yuan He, Jichuan Li, Junjie Liu
Summary: Autonomous Vehicles have become a global research focus, and recent developments in emerging technologies have paved the way for fully autonomous driving. The importance of Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation in achieving high-precision navigation and positioning for self-driving cars is emphasized in this paper. The development and current situation of GNSS, INS, and GNSS/INS integrated navigation technology are researched and summarized. The paper also compares and discusses the advantages and disadvantages of four different models of GNSS/INS integrated navigation algorithms and proposes potential research directions for future GNSS/INS technology.
Article
Engineering, Multidisciplinary
Zhuo Zhi, Datong Liu, Liansheng Liu
Summary: This article proposes a performance compensation method for GPS outages, using a wavelet regional correlation threshold denoising algorithm and a CNN-LSTM model to address MEMS-IMU issues. Experimental results show that the method can effectively improve the performance of the integrated navigation system.
Article
Engineering, Electrical & Electronic
Yuan Hu, Haozheng Li, Wei Liu
Summary: This paper proposes a method of incorporating robust GNSS factors into factor graph optimization in an integrated navigation system to address the issue of increased positioning errors caused by occluded GNSS signals during ship navigation. Experimental results confirm that the proposed method achieves superior positioning accuracy compared to factor graph optimization and extended Kalman filter.
IET RADAR SONAR AND NAVIGATION
(2023)
Article
Robotics
Xiaoji Niu, Hailiang Tang, Tisheng Zhang, Jing Fan, Jingnan Liu
Summary: IC-GVINS is an INS-centric global navigation satellite system that achieves robustness and accuracy in complex environments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Chenyan Sun, Kui Li
Summary: This article studies the lateral constraint method based on vehicle-carried INS to improve the positioning accuracy of INS in GPS-denied environment. The method estimates the installation errors between the INS body coordinate frame and the vehicle coordinate frame in areas with good GPS signal, and compensates for the estimated errors in GPS-denied areas. The proposed method is verified to improve the INS positioning accuracy by more than 50% in GPS-denied environment through simulation and experimental verification.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Remote Sensing
Sina Taghizadeh, Reza Safabakhsh
Summary: Our study proposes an Attention-based Hierarchical Long Short-Term Memory (AHLSTM) model to navigate drones in GNSS-denied environments. Micro-Electro-Mechanical Sensors (MEMS) provide accurate measurements but the accumulated errors could introduce uncertainties and noises in drone state estimation. The suggested model achieves multi-stage predictions in the long term and leads to a 70% improvement compared to similar methods.
Article
Engineering, Electrical & Electronic
Huijuan Guo, Huiying Liu, Yan Zhou, Xiaoxiang Hu
Summary: This article proposes a generalized robust extended Kalman filtering (EKF) algorithm on matrix Lie groups to solve state estimation problems. The algorithm is derived from maximizing a novel optimization cost function by considering the correntropy and the system geometry structure. Two versions of the filtering algorithm are provided based on different processing approaches of the nonlinear measurement function. The effectiveness and robustness of the proposed filter are validated through extensive Monte-Carlo simulations and experiments on an inertial navigation system/global position system (INS/GPS) integrated navigation system and open-source datasets.
IEEE SENSORS JOURNAL
(2023)
Article
Engineering, Electrical & Electronic
Duanyang Gao, Baiqing Hu, Fangjun Qin, Lubin Chang, Xu Lyu
Summary: By using back-propagation neural network to train a gravity model for gravity compensation in the inertial navigation system, this method achieves real-time gravity compensation in aviation navigation. Experiment results show significant improvement in horizontal radial position performance of INS after gravity compensation.
IEEE SENSORS JOURNAL
(2021)
Article
Chemistry, Analytical
Abdulkadir Uzun, Firas Abdul Ghani, Amir Mohsen Ahmadi Najafabadi, Husnu Yenigun, Ibrahim Tekin
Summary: This paper presents an indoor positioning system using GPS signals in the 433 MHz ISM band, demonstrated experimentally under both line-of-sight and non-line-of-sight conditions on a building floor. The system utilizes down-converting repeaters and an up-converting receiver to transmit and receive GPS signals effectively for indoor positioning.
Article
Engineering, Marine
Jiajia Xiao, Ying Li, Chuang Zhang, Zhaoyi Zhang
Summary: This study proposes an innovative integrated navigation algorithm to provide reliable navigation and positioning solutions during GPS failure by predicting and correcting the differences between INS and GPS.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Biomedical
G. Prateek, Isaac Skog, Marie E. McNeely, Ryan P. Duncan, Gammon M. Earhart, Arye Nehorai
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2018)
Article
Engineering, Electrical & Electronic
Johan Wahlstrom, Isaac Skog, Robin Larsson Nordstrom, Peter Handel
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2018)
Article
Computer Science, Information Systems
Peter Handel, Jens Ohlsson, Martin Ohlsson, Isaac Skog, Elin Nygren
IEEE SYSTEMS JOURNAL
(2014)
Article
Engineering, Electrical & Electronic
Isaac Skog, Peter Handel
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2014)
Article
Engineering, Electrical & Electronic
John-Olof Nilsson, Isaac Skog, Peter Handel
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2014)
Article
Engineering, Electrical & Electronic
Francesco Santoni, Alessio De Angelis, Isaac Skog, Antonio Moschitta, Paolo Carbone
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2019)
Article
Engineering, Civil
Johan Wahlstrom, Isaac Skog, Peter Handel, Bill Bradley, Samuel Madden, Hari Balakrishnan
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2020)
Review
Engineering, Electrical & Electronic
Johan Wahlstrom, Isaac Skog
Summary: The study reviews the history of foot-mounted inertial navigation and discusses key issues in designing zero-velocity detectors, providing insights for future research directions.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Electrical & Electronic
Hakan Carlsson, Isaac Skog, Joakim Jalden
Summary: This paper presents a maximum likelihood estimator for self-calibrating accelerometers and gyroscopes in an inertial sensor array, which does not require external equipment. The estimator uses a computationally efficient iterative optimization method and is evaluated through real-world experiments and simulations, showing consistent parameter estimation and significant improvement in accuracy.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Electrical & Electronic
Hakan Carlsson, Isaac Skog, Thomas B. Schon, Joakim Jalden
Summary: This algorithm presents an approach to estimate and quantify the uncertainty of accelerometer geometry in an inertial sensor array using Bayesian estimation and Markov chain Monte Carlo sampling. By identifying linear substructures and leveraging information from gyroscopes, it allows for accurate calibration without making assumptions about motion. Despite sampling a high dimensional space, the algorithm provides good results on both simulated and experimental data.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Electrical & Electronic
Anton Kullberg, Isaac Skog, Gustaf Hendeby
Summary: The method presents a computationally efficient way to jointly infer state and learn dynamical models online. By combining a priori known physical models and radial basis function expansion for unknown system dynamics, it reduces computational complexity. It works well for applications with limited correlation in system dynamics.
IEEE TRANSACTIONS ON SIGNAL PROCESSING
(2021)
Article
Engineering, Electrical & Electronic
Isaac Skog
IEEE SENSORS LETTERS
(2020)
Article
Engineering, Electrical & Electronic
Johan Wahlstrom, Isaac Skog, Fredrik Gustafsson, Andrew Markham, Niki Trigoni
IEEE SENSORS LETTERS
(2019)
Proceedings Paper
Automation & Control Systems
J. -O. Nilsson, J. Rantakokko, P. Handel, I. Skog, M. Ohlsson, K. V. S. Hari
2014 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM - PLANS 2014
(2014)
Proceedings Paper
Engineering, Electrical & Electronic
Isaac Skog, John-Olof Nilsson, Peter Handel
2014 1ST IEEE INTERNATIONAL SYMPOSIUM ON INERTIAL SENSORS AND SYSTEMS (ISISS 2014)
(2014)
