Goran Dikić | University of Defence, Military academy in Belgrade (original) (raw)
Conference Presentations by Goran Dikić
Sažetak—U aplikacijama namenjenim za navigaciju objekata na zemlji pored GPS prijemnika mogu se k... more Sažetak—U aplikacijama namenjenim za navigaciju objekata na zemlji pored GPS prijemnika mogu se koristiti i multisenzorski integrisani navigacijski sistemi kao što je INS/GPS i digitalne karte, naročito u urbanim sredinama gde je veoma česta pojava višestruka refleksija GPS signala i prekid praćenja GPS signala. U radu je prikazan predlog rešenja algoritma za sjedinjavanje informacija o poziciji, određenih pomoću višesenzorskog integrisanog navigacijskog sistema i podataka iz specifično definisane digitalne karte što omogućava dodatno povećanje tačnosti određivanja pozicije vozila. Ispitivanje predloženog rešenja realizovano je putem simulacije na računaru i eksperimenta na vozilu.
Papers by Goran Dikić
Defence Science Journal, 2013
This paper describes integrated navigation system that is based on a low cost inertial sensor, gl... more This paper describes integrated navigation system that is based on a low cost inertial sensor, global positioning
system (GPS) receiver, magnetometer and a barometer, in order to improve accuracy of complete attitude and navigation
solution. The main advantage of integration consists in availability of reliable navigation parameters during the
intervals of absence of GPS data. The magnetometer and the barometer are applied for the attitude calibration and
vertical channel stabilization, respectively. The acceptable accuracy of inertial navigation system (INS) is achieved
by the proper damping of INS errors. The integration is made by the implementation of an extended Kalman filter
(EKF) with control signal that is designed appropriate for low accuracy sensors noise characteristics. The analysis
of integrated navigation system performances is made experimentally and the results show that integrated navigation
system provides continuous and reliable navigation solutions.
In the inertial navigation system (INS), the altitude error diverges exponentially, especially in... more In the inertial navigation system (INS), the altitude error diverges exponentially, especially in low-cost sensors. To suppress
divergence of the altitude error, a Global Positioning System (GPS) receiver and a barometric altimeter (baro-altimeter) are
utilized. This paper describes the error dumping of the vertical channel in the integrated navigation system INS/GPS and the
baro-altimeter by using the 3rd order vertical channel damping loop and the application of the adaptive error damp
coefficients. The integration is done with an extended Kalman filter (EKF) with control signals. The characteristics of the
proposed model for the integration of the INS, the GPS and the baro-altimeter were analyzed by a computer simulation as
well as experimentally, using a vehicle. The results of the analysis show that the navigation solutions of the INS/GPS/Baroaltimeter
navigation system could improve the accuracywith the adaptive error control coefficients in the EKF control signal.
Integrated navigation systems are widely used in all aspects of life, i.e. in various civilian an... more Integrated navigation systems are widely used in all aspects of life, i.e. in various civilian and military applications. In the previous two decades, most of the attention in this area has been directed toward the use of low-cost sensors, which are characterized by the low accuracy. Therefore, many algorithms have been developed to implement inertial sensor errors damping, which are based on the integration of inertial sensors with the external sources of information (GPS receivers, magnetometers, barometers, etc.) or mathematical models developed for the self-damping of inertial sensors errors.
This paper proposes a specific method of gyroscope drift compensation by using a PI controller based on the magnetometer measurements, as well as a method of errors compensation in the horizontal channel of navigation system by using the adaptive control signals. The experimental results obtained for the proposed solutions presented in this paper confirmed the possibility of the successful application of these solutions in the real-world environment.
Sažetak—U aplikacijama namenjenim za navigaciju objekata na zemlji pored GPS prijemnika mogu se k... more Sažetak—U aplikacijama namenjenim za navigaciju objekata na zemlji pored GPS prijemnika mogu se koristiti i multisenzorski integrisani navigacijski sistemi kao što je INS/GPS i digitalne karte, naročito u urbanim sredinama gde je veoma česta pojava višestruka refleksija GPS signala i prekid praćenja GPS signala. U radu je prikazan predlog rešenja algoritma za sjedinjavanje informacija o poziciji, određenih pomoću višesenzorskog integrisanog navigacijskog sistema i podataka iz specifično definisane digitalne karte što omogućava dodatno povećanje tačnosti određivanja pozicije vozila. Ispitivanje predloženog rešenja realizovano je putem simulacije na računaru i eksperimenta na vozilu.
Defence Science Journal, 2013
This paper describes integrated navigation system that is based on a low cost inertial sensor, gl... more This paper describes integrated navigation system that is based on a low cost inertial sensor, global positioning
system (GPS) receiver, magnetometer and a barometer, in order to improve accuracy of complete attitude and navigation
solution. The main advantage of integration consists in availability of reliable navigation parameters during the
intervals of absence of GPS data. The magnetometer and the barometer are applied for the attitude calibration and
vertical channel stabilization, respectively. The acceptable accuracy of inertial navigation system (INS) is achieved
by the proper damping of INS errors. The integration is made by the implementation of an extended Kalman filter
(EKF) with control signal that is designed appropriate for low accuracy sensors noise characteristics. The analysis
of integrated navigation system performances is made experimentally and the results show that integrated navigation
system provides continuous and reliable navigation solutions.
In the inertial navigation system (INS), the altitude error diverges exponentially, especially in... more In the inertial navigation system (INS), the altitude error diverges exponentially, especially in low-cost sensors. To suppress
divergence of the altitude error, a Global Positioning System (GPS) receiver and a barometric altimeter (baro-altimeter) are
utilized. This paper describes the error dumping of the vertical channel in the integrated navigation system INS/GPS and the
baro-altimeter by using the 3rd order vertical channel damping loop and the application of the adaptive error damp
coefficients. The integration is done with an extended Kalman filter (EKF) with control signals. The characteristics of the
proposed model for the integration of the INS, the GPS and the baro-altimeter were analyzed by a computer simulation as
well as experimentally, using a vehicle. The results of the analysis show that the navigation solutions of the INS/GPS/Baroaltimeter
navigation system could improve the accuracywith the adaptive error control coefficients in the EKF control signal.
Integrated navigation systems are widely used in all aspects of life, i.e. in various civilian an... more Integrated navigation systems are widely used in all aspects of life, i.e. in various civilian and military applications. In the previous two decades, most of the attention in this area has been directed toward the use of low-cost sensors, which are characterized by the low accuracy. Therefore, many algorithms have been developed to implement inertial sensor errors damping, which are based on the integration of inertial sensors with the external sources of information (GPS receivers, magnetometers, barometers, etc.) or mathematical models developed for the self-damping of inertial sensors errors.
This paper proposes a specific method of gyroscope drift compensation by using a PI controller based on the magnetometer measurements, as well as a method of errors compensation in the horizontal channel of navigation system by using the adaptive control signals. The experimental results obtained for the proposed solutions presented in this paper confirmed the possibility of the successful application of these solutions in the real-world environment.