[1] Xu Yuan, Chen Xiyuan,. Tightly-coupled model for INS/WSN integrated navigationbased on Kalman filter [J]. Journal of Southeast University (English Edition), 2011, 27 (4): 384-387. [doi:10.3969/j.issn.1003-7985.2011.04.008]

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Tightly-coupled model for INS/WSN integrated navigationbased on Kalman filter()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

27

Issue:

2011 4

Page:

384-387

Research Field:

Electromagnetic Field and Microwave Technology

Publishing date:

2011-12-31

Info

Title:

Tightly-coupled model for INS/WSN integrated navigationbased on Kalman filter

Author(s):

Xu Yuan;  Chen Xiyuan

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China

Keywords:

inertial navigation system(INS);  wireless sensor network(WSN);  tightly-coupled integration;  Kalman filter

PACS:

TN967.3

DOI:

10.3969/j.issn.1003-7985.2011.04.008

Abstract:

Aiming at the problem of poor observability of measurement information in the loosely-coupled integration of the inertial navigation system(INS)and the wireless sensor network(WSN), this paper presents a tightly-coupled integration based on the Kalman filter(KF). When the WSN is available, the difference between the distances from the blind node(BN)to the reference nodes(RNs)measured by the INS and those measured by the WSN are used as measurement information for the KF due to its better observability and independence, which can effectively improve the accuracy of the KF. Simulations show that the proposed approach reduces the mean error of the position by about 50% compared with loosely-coupled integration, while the mean error of the velocity is a little higher than that of loosely-coupled integration.

References:

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Memo

Memo:

Biographies: Xu Yuan(1985—), male, graduate; Chen Xiyuan(corresponding author), male, doctor, professor, chxiyuan@seu.edu.cn.
Foundation items: The National Basic Research Program of China(973 Program)(No.2009CB724002), the National Natural Science Foundation of China(No.50975049), the Specialized Research Fund for the Doctoral Program of Higher Education of China(No.20110092110039), the Aviation Science Foundation(No.20090869008), the Six Peak Talents Foundation in Jiangsu Province(No.2008143), Program of Scientific Innovation Research of College Graduate in Jiangsu Province(No.CXLX_0101).
Citation: Xu Yuan, Chen Xiyuan.Tightly-coupled model for INS/WSN integrated navigation based on Kalman filter[J].Journal of Southeast University(English Edition), 2011, 27(4):384-387.[doi:10.3969/j.issn.1003-7985.2011.04.008]

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