Using Adaptive Motion Constraints to Support UWB/IMU Based Navigation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Using Adaptive Motion Constraints to Support UWB/IMU Based Navigation

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Using Adaptive Motion Constraints to Support UWB/IMU Based Navigation

Popis výsledku anglicky

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

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Navigation

ISSN

0028-1522

e-ISSN

2161-4296

Svazek periodika

65

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

15

Strana od-do

247-261

Kód UT WoS článku

000439832100008

EID výsledku v databázi Scopus

2-s2.0-85045849062