ArticleSensors (Basel, Switzerland)2021
Adaptive Estimation Algorithm for Correcting Low-Cost MEMS-SINS Errors of Unmanned Vehicles under the Conditions of Abnormal Measurements.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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1 citing paper in PubMed.
- Deep Robust Moving Horizon Estimation for Nonlinear Multi-Rate Systems.Sensors (Basel, Switzerland) · 2026Article
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Authors and funding
4 authors.
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Abstract
In this paper, a low-cost small-sized strap-down inertial navigation system (SINS)-Gyrolab GL-VG 109-is studied. When the system is installed on an unmanned vehicle and works in autonomous mode, it is difficult to determine the navigation parameters of the unmanned vehicle. Correcting the SINS information from the Global Navigation Satellite System (GNSS) can significantly increase the determination accuracy of the navigation parameters. However, this is only available when the GNSS signals are stable. A new adaptive estimation algorithm that can automatically detect, evaluate, and process the abnormal measurements is proposed in the present work. The determination of the navigation parameters can reach the third accuracy class using the proposed method. The effectiveness of the algorithm is verified by the mathematical simulation and the experimental tests (with a real SINS GL-VG 109), which are conducted in urban environments with a GNSS signal containing 15% and 40% abnormal measurements. The results show that the proposed method can significantly reduce the impact of abnormal measurements and improve the estimation accuracy.
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