Research on adaptive damping method for inertial navigation system attitude error suppression algorithm

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced.

Download Full-text

Vision-aided attitude error compensation for marine strapdown inertial navigation system

2014 12th International Conference on Signal Processing (ICSP) ◽

10.1109/icosp.2014.7015191 ◽

2014 ◽

Author(s):

Hongliang Zhang ◽

Pengyu Guo

Keyword(s):

Navigation System ◽

Error Compensation ◽

Inertial Navigation System ◽

Inertial Navigation ◽

Strapdown Inertial Navigation System ◽

Attitude Error ◽

Strapdown Inertial Navigation

Download Full-text

Analysis of error suppression performance in the carrier angle motion status for rotation for FOG inertial navigation system

Proceedings of the 33rd Chinese Control Conference ◽

10.1109/chicc.2014.6896768 ◽

2014 ◽

Author(s):

Hairong Wang ◽

Zhihong Deng ◽

Bo Wang

Keyword(s):

Navigation System ◽

Inertial Navigation System ◽

Inertial Navigation ◽

Analysis Of Error ◽

Error Suppression

Download Full-text

Research on In-Flight Alignment for Micro Inertial Navigation System Based on Changing Acceleration using Exponential Function

Micromachines ◽

10.3390/mi10010024 ◽

2018 ◽

Vol 10 (1) ◽

pp. 24 ◽

Cited By ~ 1

Author(s):

Yun Xu ◽

Tong Zhou

Keyword(s):

Exponential Function ◽

Navigation System ◽

Inertial Navigation System ◽

Field Experiments ◽

Inertial Navigation ◽

Rolling Angle ◽

Attitude Error ◽

Heading Angle ◽

Initial Attitude ◽

The Stability

In order to guarantee the stable flight of a guided projectile, it is difficult to realize in-flight alignment for the micro inertial navigation system (MINS) during its short flight time. In this paper, a method based on changing acceleration using exponential function is proposed. First, double-vector observations were derived. Then the initial attitude for the guided projectiles was estimated by the regressive quaternion estimation (QUEST) algorithm. Further, the estimated errors were analyzed, and the reason for using the changing acceleration for the in-flight alignment was explained. A simulation and semi-physical experiment was performed to show the effectiveness of the proposed method. The results showed that the initial attitude error for the rolling angle was about 0.35°, the pitch angle was about 0.1° and the heading angle was about 0.6°, in which the initial shooting angle was between 15° and 55°. In future studies, the field experiments will be carried out to test the stability of the proposed in-flight alignment for guided projectiles.

Download Full-text

Attitude Resolution Algorithm of Gyro-Free Inertial Navigation System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.308-310.662 ◽

2011 ◽

Vol 308-310 ◽

pp. 662-667

Author(s):

Hon Gjin Zhou ◽

Xiu Sen Wang ◽

Cheng Tao Yi

Keyword(s):

Navigation System ◽

Inertial Navigation System ◽

Inertial Navigation ◽

Attitude Error ◽

Resolution Algorithm

Gyro-Free Inertial Navigation System(GFINS) is constructed mainly with accelerometers. A nine-accelerometer GFINS scheme is designed and the prototype is manufactured. Then quaternion based attitude resolution algorithm is developed, the algorithm is also applied to the GFINS prototype, the results show that the algorithm can effectively offspring the cone-effect, and the attitude is resolute validly, the maximum attitude error is up to 0.37°, the maximum azimuth error is 0.47°.

Download Full-text

An Aided Navigation Method Based on Strapdown Gravity Gradiometer

Sensors ◽

10.3390/s21030829 ◽

2021 ◽

Vol 21 (3) ◽

pp. 829

Author(s):

Duanyang Gao ◽

Baiqing Hu ◽

Lubin Chang ◽

Fangjun Qin ◽

Xu Lyu

Keyword(s):

Navigation System ◽

Inertial Navigation System ◽

Unscented Kalman Filter ◽

Inertial Navigation ◽

Gravity Potential ◽

Gravity Gradient ◽

Gravity Gradiometer ◽

Attitude Error ◽

Small Change ◽

Navigation Method

The gravity gradient is the second derivative of gravity potential. A gravity gradiometer can measure the small change of gravity at two points, which contains more abundant navigation and positioning information than gravity. In order to solve the problem of passive autonomous, long-voyage, and high-precision navigation and positioning of submarines, an aided navigation method based on strapdown gravity gradiometer is proposed. The unscented Kalman filter framework is used to realize the fusion of inertial navigation and gravity gradient information. The performance of aided navigation is analyzed and evaluated from six aspects: long voyage, measurement update period, measurement noise, database noise, initial error, and inertial navigation system device level. When the parameters are set according to the benchmark parameters and after about 10 h of simulation, the results show that the attitude error, velocity error, and position error of the gravity gradiometer aided navigation system are less than 1 arcmin, 0.1 m/s, and 33 m, respectively.

Download Full-text