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Klemen Kozmus Trajkovski
Geodetski vestnik, 01/2009, Volume: 53, Issue: 2Journal Article
SI: Navigacijski sistemi običajno temeljijo na sprejemnikih GNSS. Članek predstavlja trenutno stanje sistemov GNSS, navigacijo s tehnologijami GNSS in opisuje GPS-navigacijske instrumente. Nekatere naloge zahtevajo neprekinjeno navigacijo, česar ne moremo zagotoviti samo z uporabo GNSS-navigacije. Sistem za neprekinjeno navigacijo dopolnjujejo inercialni navigacijski sistemi. Predstavljene so osnove inercialne navigacije, opisane so inercialne merilne enote,navedeni tipi IMU in tipični pogreški inercialnih senzorjev. Predstavljeni sta dve metodi obdelave podatkov združenih sistemov GNSS/INS, tradicionalni Kalmanov filter in umetne nevronske mreže, ki po nekaterih raziskavah dosegajo boljše rezultate kot Kalmanov filter. Omenjeni sta še dve dodatni možnosti za izboljšanje ali celo zagotovitev neprekinjene navigacije, psevdoliti in širokopasovni radijski valovi. EN: Navigation systems are commonly based on GNSS receivers. The article presents the current status of GNSS, discusses GNSS navigation and describes GPS navigation instruments. Some applications require seamless navigation which cannot be provided byGNSS itself. The system for uninterrupted navigation uses Inertial Navigation System besides GNSS. The bases of inertial navigation, Inertial Measurement Units, types of IMU and typical inertial sensorerrors are presented. The processing of data from an integrated GNSS/INS is usually performed either by a traditional Kalman Filter or an artificial neural network. According to some of the research, the latter performs better than the conventional Kalman Filter.Seamless navigation can be improved or even made possible by the use of pseudolites or Ultra-wide Band.
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