Design and Implementation a Constrained Adaptive Estimation Algorithm for Lowcost Integrated Navigation System in Urban Area

Document Type : Research Article

Authors

1 Department of Electrical Engineering, K. N. Toosi University of Technology.

2 Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran

3 Department of Aerospace Engineering, Imam Hossein University.

4 Department of Mechanical Engineering, Imam Hossein University, Tehran, Iran.

Abstract

Due to stochastic noises, modeling uncertainties and nonlinearities in low-cost inertial measurement units, the positioning error of strap-down inertial navigation systems are increased exponentially. So, the inertial navigation system is integrated with aiding navigation systems like a global navigation satellite system by using an estimation algorithm to obtain an acceptable positioning accuracy. In the urban area, the global navigation satellite system signal may be obstructed because of tall trees and buildings. Therefore, in the present paper, a novel constrained adaptive integration algorithm is developed for integration of the strap-down inertial navigation system and global navigation satellite system. In this algorithm, the velocities constraints in body frame in addition to altitude constraints based on a barometer data are firstly developed, and then a constrained estimation algorithm is designed based on the proposed constraints. In addition, a type-2 fuzzy algorithm is used to calculate the estimator parameters based on vehicle maneuvers. The real vehicular tests are used for implantation and validation of the proposed algorithm. The experimental results indicate that the proposed adaptive constrained estimation algorithm enhanced the estimation accuracy of the strap-down inertial navigation system steady states.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 52, Issue 5
August 2020
Pages 1333-1348

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