Method of the Autonomous Initial Alignment of Strapdown Inertial Navigation Systems with Preliminary Autocalibration of Inertical Sensors for Unmanned Aerial Vehicles

2019 ◽  
Author(s):  
Feliks Zakharin ◽  
Sergiy Ponomarenko
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Aerial Vehicles ◽  
Strapdown Inertial Navigation

scholarly journals ERROR ANALYSIS OF INS ARRANGED IN ARDUPILOT MEGA / „ARDUPILOT MEGA“ AUTOPILOTO INERCINIO NAVIGACIJOS ĮRENGINIO PAKLAIDŲ ANALIZĖ

2012 ◽  
Vol 4 (4) ◽  
pp. 408-413
Author(s):  
Ramūnas Kikutis ◽  
Darius Rudinskas
Keyword(s):  
Error Analysis ◽  
Automatic Control ◽  
Unmanned Aerial Vehicles ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Aerial Vehicles ◽  
Small Uav ◽  
Huge Impact ◽  
Uav Navigation

Inertial navigation systems (INS) are widely used for controlling piloted or unmanned aerial vehicles (UAV). Automatic control equipment with INS has error budget making a huge impact on the accuracy of UAV navigation. The paper analyzes INS errors and types of errors. Experiments have been done using small UAV. Santrauka Inerciniai navigacijos įrenginiai (INS) plačiai naudojami pilotuojamuose ir nepilotuojamuose orlaiviuose. Nepilotuojamo orlaivio skrydžio tikslumui didelę įtaką turi orlaivio automatinio valdymo sistemos įrenginių paklaidos. Tyrime nagrinėjamas nepilotuojamas orlaivis, kurio automatinio valdymo sistemos dalis yra inercinis navigacijos įrenginys. Analizuojami INS įrenginių paklaidų šaltiniai, paklaidų tipai. Eksperimentiniai tyrimai atlikti naudojant mažo nepilotuojamo orlaivio automatinio valdymo sistemą.

scholarly journals Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989484 ◽  
Author(s):  
Hossein Rahimi ◽  
Amir Ali Nikkhah
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation ◽  
Control Signal ◽  
Navigation Systems ◽  
Alignment Method ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Strapdown Inertial Navigation

In this article, a method was proposed for strapdown inertial navigation systems initial alignment by drawing on the conventional alignment method for stable platform navigation systems. When a vessel is moored, the strapdown inertial navigation system contributes to the disturbing motion. Moreover, the conventional methods of accurate alignment fail to succeed within an acceptable period of time due to the slow convergence of the heading channel in the mooring conditions. In this work, the heading was adjusted using the velocity bias resulting from the component of the angular velocity of the Earth on the east channel on the strapdown inertial navigation systems analytic platform plane to accelerate convergence in the initial alignment of navigation system. To this end, an extended Kalman filter with control signal feedback was used. The heading error was calculated using the north channel residual velocity of the strapdown inertial navigation systems analytic platform plane and was entered into an extended Kalman filter. Simulation and turntable experimental tests were indicative of the ability of the proposed alignment method to increase heading converge speed in mooring conditions.

scholarly journals Optimizing Strap-down Inertial Navigation Systems Characteristics and External Correction Sensors for Autonomous Navigation of Different UAV Classes

2020 ◽  
pp. 1-19
Author(s):  
E. I. Starovoytov
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Sensor Data ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Aerial Vehicles ◽  
Atmospheric Path ◽  
Payload Mass ◽  
Laser Gyroscopes

Currently, unmanned aerial vehicles (UAVs) can be used in topographic works, condition monitoring and diagnostics of extended engineering structures, delivering goods to hard-to-reach places, etc. To provide the widespread UAVs applications and raise the number of tasks to be solved through their using, it is necessary to increase their autonomy degree in terms of navigation support, in particular. Unmanned aerial vehicles (UAV) control systems for autonomous navigation use the strap-down inertial navigation systems (SINS) based on various types of gyroscopes. SINS based on the laser gyroscopes, which have a large mass, have the best accuracy. UAVs with a payload mass that is commensurable with the mass of navigation equipment require optimization of SINS characteristics. An optimization method has been developed to enable obtaining a Pareto set for the mass and accuracy of SINS based on laser gyroscopes. A comprehensive assessment of the characteristics of SINS and UAV carrier with different payload mass has been performed. Various SINS correction methods are considered when satellite navigation is unavailable.For overland flights, the correlation-extreme navigation systems (CENS) and SLAM methods (for simultaneous localisation and mapping) can be used. CENS require a reference lay-of-the-land description and a sufficient density of landmarks. In navigation based on SLAM algorithms, there is no need in the reference lay-of-the-land description, and the initial data can be obtained through the optical sensors under appropriate condition of the atmospheric path.Regardless of the condition of the atmospheric path, type of the underlying surface and its information available in detail, the UAV coordinates can be determined by Doppler dead reckoning using a Doppler system (DISS). At low and medium altitudes SINS correction is possible, only heading sensor data are needed to calculate the path angle.In combining with DISS and 3D Flash Ladar sensors (for implementing SLAM algorithms), it is more optimal to use low-accuracy SINS based on fibre-optic gyroscopes rather than laser gyro-based systems.The results obtained can be used when developing navigation systems for medium, light and heavy-medium UAVs.

Initial Alignment of a Moving Inertial Navigation System

1960 ◽  
Vol 13 (3) ◽  
pp. 301-315
Author(s):  
Richard B. Seeley ◽  
Roy Dale Cole
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Local Level ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Velocity Measurements ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Error Sources ◽  
China Lake

This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment. This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment.

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