A Novel Design Framework for Tightly Coupled IMU/GNSS Sensor Fusion Using Inverse-Kinematics, Symbolic Engines, and Genetic Algorithms
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Bibliographic record
Abstract
Tightly-coupled (TC) fusion of Inertial Measurement Units (IMUs) with Global Navigation Satellite Systems (GNSSs) is a common technique that provides high-rate positioning even under GNSS interruptions. In order to provide accurate positioning, errors of IMU and GNSS must be modelled and estimated by filtering techniques such as Extended Kalman Filter (EKF). Due to nonlinearity and stochastic characteristics of IMU and GNSS system and measurement models, robust filter design has been a challenge. Conventional design techniques use mission-specific fixed models and trial-and-error noise parameter tuning to design IMU/GNSS filters. These conventional techniques are inflexible and do not always lead to accurate designs as there are no ways to verify the filter ability to estimate sensors errors accurately. To address this challenge, this paper presents a flexible design framework and a systematic procedure for TC IMU/GNSS fusion. The framework utilizes symbolic engines to represent and linearize system and measurement models. Symbolic engines are flexible in new models and fusion algorithms development. In order to evaluate the estimation of sensors errors, an Inverse-Kinematics module is developed to generate error-free sensors measurements which can be contaminated by known errors. The filter parameters are tuned using Genetic Algorithms and the performance is evaluated based on the accuracy of estimating all states including the added known errors. The framework has been used to develop a quaternion-based EKF design and verified on real raw IMU/GNSS data. The results showed that the developed framework greatly reduces efforts to design robust and accurate fusion systems for TC IMU/GNSS integration.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it