scholarly journals Research on the automotive sensor–aided low-cost inertial navigation system for land vehicles

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401882287 ◽  
Author(s):  
Susu Fang ◽  
Zengcai Wang ◽  
Lei Zhao
Keyword(s):  
Mechanical System ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Micro Electro Mechanical System ◽  
Wheel Speed ◽  
Measurement Unit ◽  
Angle Sensor ◽  
Inertial Measurement ◽  
Speed Sensor

When a low-cost micro-electro-mechanical system inertial measurement unit is used for a vehicle navigation system, errors will quickly accumulate because of the large micro-electro-mechanical system sensor measurement noise. To solve this problem, an automotive sensor–aided low-cost inertial navigation system is proposed in this article. The error-state model of the strapdown inertial navigation system has been derived, and the measurements from the wheel speed sensor and steer angle sensor are used as the new observation vector. Then, the micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor–integrated system is established based on adaptive Kalman filtering. The experimental results show that the positioning error of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor is 94.67%, 98.88%, and 97.88% less than the values using pure strapdown inertial navigation system in the east, north, and down directions, respectively. The yaw angle error is reduced to less than 1°, and the vehicle velocity estimation of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor–integrated navigation system is closer to the reference value. These results show the precision of the integrated navigation solution.

scholarly journals An Anomaly Diagnosis Method for Redundant Inertial Measurement Unit and Its Application with Micro-Electro-Mechanical System Sensors

2019 ◽  
Vol 9 (8) ◽  
pp. 1606 ◽  
Author(s):  
Binhan Du ◽  
Jinlong Song ◽  
Zhiyong Shi
Keyword(s):  
Mechanical System ◽  
Inertial Measurement Unit ◽  
Micro Electro Mechanical System ◽  
Measurement Unit ◽  
Recognition Method ◽  
Detection Function ◽  
Inertial Measurement ◽  
Redundant Data ◽  
Parity Space ◽  
Space Method

The application of the micro-electro-mechanical system inertial measurement unit has become a new research hotspot in the field of inertial navigation. In order to solve the problems of the poor accuracy and stability of micro-electro-mechanical system sensors, redundant design is an effective method under the restriction of current technology. Redundant data processing is the most important part in the micro-electro-mechanical system redundant inertial navigation system, which includes the processing of anomaly data and the fusion estimation of redundant data. To further improve the reliability of the micro-electro-mechanical system redundant inertial measurement unit, an anomaly detection, isolation, and recognition method for data anomalies is proposed. The relationship between the parity space method detection function and the deterioration degree of anomaly data is mathematically deduced. The parity space method detection functions of different anomalies are analyzed, and five indicators are designed to quantitatively analyze the detection function values. According to these indicators, the detection and recognition method are proposed. The new method is tested by a series of simulation experiments.

Research of Roll-Isolated Gimbal Platform and a Two-Position Initial Alignment Scheme of SINS in Spinning Projectile

2011 ◽  
Vol 383-390 ◽  
pp. 4115-4120
Author(s):  
Yong Sheng Shi ◽  
Bo Wang ◽  
Ming Jie Dong ◽  
Zhi Feng Gao
Keyword(s):  
High Spin ◽  
Navigation System ◽  
Measurement Errors ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Measurement Unit ◽  
Initial Alignment ◽  
Inertial Measurement ◽  
Spinning Projectile ◽  
Alignment Errors

It is difficult to apply a traditional strapdown inertial navigation system(SINS) to spinning projectile because of high spin rate. A Roll-Isolated gimbal platform is introduced to prevent SINS by the projectile’s spinning motion. Roll-Isolation is accomplished by supporting the inertial measurement unit(IMU) on a single gimbal, the axis of which is parallel to the projectile’s spinning axis. Roll-Isolation prevents the saturation of the roll gyro by the high vehicle spin rate and greatly reduces the measurement errors arising from gyro scale factor and misalignment. On the basis of roll-isolation, the paper presents a Two-Position initial alignment scheme of SINS on stationary base, which is realized by changing the IMU roll angle around the spinning axis. Furthermore, the paper studies on the observability of the scheme, and the results show that it not only improves observability but also minimizes alignment errors.

Optimal Sensor Fusion in Redundant Inertial Measurement Unit

2013 ◽  
Vol 433-435 ◽  
pp. 250-253 ◽  
Author(s):  
Xiao Qiang Dai ◽  
Lin Zhao ◽  
Zhen Shi
Keyword(s):  
Sensor Fusion ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Compensation Algorithm ◽  
Drift Compensation

In order to improve the reliability and accuracy of inertial navigation system in some navigation applications, the redundant inertial measurement unit (RIMU) is used. In this study, an optimal sensor fusion is introduced, and drift compensation based on this sensor fusion is presented subsequently. And the sensor fusion and drift compensation are combined into one algorithm. In this algorithm, faulty drift sensors are not isolated, but are compensated. So the redundant inertial navigation system can maintain systems redundancy. An errors model of RIMU was derived firstly, the optimal sensor fusion and the drift compensation algorithm were introduced secondly, and several simulations were carried out and proved effective of the proposed algorithm lastly.

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