Integration of Local Ultrawideband ToA/AOA Phase Difference of Arrival System and Inertial Navigation Systems
| Autor: | Ana Mitic, Dmitry Tsaregorodtsev, Valery Semenov, Alexander Chugunov, Andrey Boldyrev, Elena Zakharova, Nikita Petukhov |
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| Rok vydání: | 2020 |
| Předmět: |
Phase difference
Inertial frame of reference 010504 meteorology & atmospheric sciences Computer science 010401 analytical chemistry Navigation system 01 natural sciences 0104 chemical sciences Section (archaeology) Dead reckoning Metric (mathematics) Relevance (information retrieval) Algorithm Inertial navigation system 0105 earth and related environmental sciences |
| Zdroj: | 2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS). |
| DOI: | 10.23919/icins43215.2020.9133989 |
| Popis: | This paper is devoted to a synthesis of an algorithm of integrating radio measurements from an ultrawideband (UWB) ToA/AoA local navigation system with measurements from an inertial system that implements a pedestrian dead reckoning algorithm (PDR). The main formulas of the algorithm are given in the second section of this work (Algorithm Synthesis). The introduction section provides an overview of existing approaches to local navigation and proves the relevance and feasibility of studies described below in the paper. In the fourth section (Experiment) of this work a metric characterizing the accuracy of the synthesized complex algorithm is proposed and quantified by the experiment results. The Experimental stand section shows the equipment on which the experiment confirming the correct operation of the synthesized algorithm was conducted. |
| Databáze: | OpenAIRE |
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