Using Adaptive Motion Constraints to Support UWB/IMU Based Navigation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00322348" target="_blank" >RIV/68407700:21230/18:00322348 - isvavai.cz</a>
Result on the web
<a href="https://onlinelibrary.wiley.com/doi/abs/10.1002/navi.227" target="_blank" >https://onlinelibrary.wiley.com/doi/abs/10.1002/navi.227</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1002/navi.227" target="_blank" >10.1002/navi.227</a>
Alternative languages
Result language
angličtina
Original language name
Using Adaptive Motion Constraints to Support UWB/IMU Based Navigation
Original language description
This study addresses the problem of short UWB (ultra-wide band) outages in a UWB/IMU (inertial measurement unit) integrated navigation system. UWB outages may occur due to non-line-of-sight between the UWB radios. To mitigate the errors during short UWB outages, we consider the special dynamics of the platform by adaptively applying constraints in the navigation filter. The application presented here is the navigation problem of the unexploded ordnances (UXOs) mapping platform. A UXO platform moves straight or performs turns or stops; these are the three dynamic states with pre-defined constraints. Two neural networks are examined to determine the current dynamic state based on IMU data. Tests on open-sky and canopied areas were carried out for the performance assessment. The networks were trained on the open-sky dataset, and then tested on the canopied area. The detected improvement of the proposed solution is 10–30% (10–15 cm) for 5–10 s long outages. Copyright 2018 Institute of Navigation
Czech name
—
Czech description
—
Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20201 - Electrical and electronic engineering
Result continuities
Project
—
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Navigation
ISSN
0028-1522
e-ISSN
2161-4296
Volume of the periodical
65
Issue of the periodical within the volume
2
Country of publishing house
US - UNITED STATES
Number of pages
15
Pages from-to
247-261
UT code for WoS article
000439832100008
EID of the result in the Scopus database
2-s2.0-85045849062