Accuracy of inertial navigation system (INS) is limited by inertial sensors imperfections. Before using inertial sensors signals in the data fusion algorithm, noise removal method should be performed, in which, wavelet decomposition method is used. In this method the raw data is decomposed into high and low frequency data sets. In this study, wavelet multi-level resolution analysis (WMRA) techn...

This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertia...

The maneuver characteristic of the most commonly used AUV integrated navigation systems was investigated in this paper. After analyzing the error cause of conversional used Kalman filter of SINS/DVL integrated navigation systems in maneuver state, a novel method was proposed which is to use the output of complex navigation systems to revise the SINS in real-time, and an improved adaptive Kalman...

Abstract This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As kinematic system of navigation can be naturally modeled on matrix Lie group SE 2 (3), symmetry exploited to design equivariant filter which extends invariant extended Kalman filtering group-affine and overcomes inconsitency issue traditional extend filter. We firstly formulate ...