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Research on GPS/INS Integrated Navigation Algorithm under Open-Pit Mining Environment
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Ting HAO1, Lizhen CUI1, *, Yongxing DU1, Baoliang MA1
Journal of Geodesy and Geodynamics | 2025, 45(1) : 29 - 35
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Journal of Geodesy and Geodynamics | 2025, 45(1): 29-35
Research on GPS/INS Integrated Navigation Algorithm under Open-Pit Mining Environment
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Ting HAO1, Lizhen CUI1, *, Yongxing DU1, Baoliang MA1
Affiliations
  • 1 School of Digital and Intelligent Industry, Inner Mongolia University of Science and Technology, 7 Alding Street, Baotou 014010, China

    • HAO Ting, postgraduate, majors in wireless positioning and navigation and inertial navigation fusion positioning algorithm, E-mail:

About Author:

HAO Ting, postgraduate, majors in wireless positioning and navigation and inertial navigation fusion positioning algorithm, E-mail:

Published: 2025-01-15 doi: 10.14075/j.jgg.2024.02.081
Outline
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The road in the open-pit mining area is narrow, with many curves, rubbles, and bumpy roads. The special surface closed loop leads to system model anomalies and measurement noise uncertainty problems during positioning of transport vehicles. To address the above issues, we propose an SVD-AUKF algorithm with a noise estimator. The algorithm suppresses the pathological matrix that occurs during the filtering process by singular value decomposition of the covariance matrix, estimates the measurement noise using the Sage-Husa estimator, reduces the system state error, and introduces an adaptive factor to correct the system model error in real time to suppress the filtering divergence. We apply and test the proposed SVD-AUKF algorithm to the GPS/INS integrated navigation system model on a vehicle in a mining environment. The results show that the new algorithm has good applicability, with position accuracy improvements of approximately 50.69%, 51.20%, and 48.54% compared to the AUKF algorithm; speed accuracy improvements of approximately 31.24%, 33.83%, and 31.30% in E, N, U directions, which can effectively improve the filtering performance and increase system positioning accuracy.

unscented Kalman filter  /  Sage-Husa estimator  /  SVD-AUKF  /  loose combination  /  open-pit mine
郝婷, 崔丽珍, 杜永兴, 马宝良. 露天矿区环境下GPS/INS组合导航算法研究. 大地测量与地球动力学, 2025 , 45 (1) : 29 -35 . DOI: 10.14075/j.jgg.2024.02.081
Ting HAO, Lizhen CUI, Yongxing DU, Baoliang MA. Research on GPS/INS Integrated Navigation Algorithm under Open-Pit Mining Environment[J]. Journal of Geodesy and Geodynamics, 2025 , 45 (1) : 29 -35 . DOI: 10.14075/j.jgg.2024.02.081
Funding
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  • National Natural Science Foundation of China(62261042)
  • Science and Technology Project of Inner Mongolia Autonomous Region(2019GG328)
  • Science and Technology Project of Inner Mongolia Autonomous Region(2022YFSH0051)
Appendix
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Year 2025 volume 45 Issue 1
18
6
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Article Info
doi: 10.14075/j.jgg.2024.02.081
  • Receive Date：2024-02-27
  • Online Date：2026-10-30
  • Published：2025-01-15
Article Data
Affiliations
History
  • Received：2024-02-27
Funding
National Natural Science Foundation of China(62261042)
Science and Technology Project of Inner Mongolia Autonomous Region(2019GG328)
Science and Technology Project of Inner Mongolia Autonomous Region(2022YFSH0051)
Affiliations
    1 School of Digital and Intelligent Industry, Inner Mongolia University of Science and Technology, 7 Alding Street, Baotou 014010, China
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表12种不同金属材料的力学参数
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Number of
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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