Mr. Songlai Han is a joint-training doctorate candidate at both the National University of Defense Technology, Changsha, China, and the University of New South Wales, Sydney, Australia. He received the B.S. degree in Electronic Science and Technology from Tianjin University, Tianjin, China in 2003, and received the M.S. degree in Control Science and Technology from the National University of De...

In this paper we present a direct Kalman filtering approach for GPS/INS integration. In the approach, GPS and INS non–linearities are preprocessed prior to a Kalman filter. The GPS preprocessed data are taken as measurement input, while the INS preprocessed data are taken as an additional information to the Kalman filter’s state prediction. The advantage of this approach is that a simple and li...

This paper presents stability analysis of fuzzy reactive navigation applied to the nonholonomic mobile robot ROMEO-3R. Reactive navigation approaches are emerging as an alternative to (or in combination with) planned schemes, but they usually present worse dynamic performance (oscillations are very common in these techniques). Influence of the own reactive navigation parameters (such as sensor ...

This paper considers the best sensor configuration and fault accommodation problem for inertial navigation systems which use seven inertial sensors such as gyroscopes and accelerometers. We prove that when six inertial sensors are used, the isolation of a double fault cannot be achieved for some combinations of fault magnitudes, whereas when seven inertial sensors are used, the isolation of any...

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Aiming to advance the coning algorithm performance of strapdown inertial navigation systems, a new half-compressed coning correction structure is presented. The half-compressed algorithm structure is analytically proven to be equivalent to the traditional compressed structure under coning environments. The half-compressed algorithm coefficients allow direct configuration from traditional compre...

In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the avail...