scholarly journals Design of Accurate Navigation System by Integrating INS and GPS modules

2019 ◽  
Vol 11 (4) ◽  
pp. 139-154
Author(s):  
M. RAJA ◽  
Gaurav ASTHANA ◽  
Ajay SINGH ◽  
Ashna SINGHAL ◽  
Pallavi LAKRA
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
External Information ◽  
Navigation Systems ◽  
Final Solution ◽  
Long Term Stability ◽  
Noise Characteristics ◽  
Aircraft Navigation ◽  
Satellite Signal

Navigation has a huge application in aviation and aircraft automatic approach. Two widely used navigation systems are Global position System (GPS) and Inertial Navigation System (INS). Triangulation method used to determine the aircrafts location by GPS, speed whereas an INS, with the aid of gyroscope and accelerometer, estimates the location, velocity and alignment of an aircraft. Aircraft navigation is a complex task and using only one of the above navigation systems results in inaccurate and insufficient data. GPS stops working when satellite signal is not received, susceptible to interfere occasionally has high noise content, and has a low bandwidth, INS system requires external information for initialization has long-term drift errors. Certain errors like ionosphere interference, clock error, orbital error, position error, etc. might arise and disrupt the navigation process. In order to outrun the limitations of the above two systems and counter the errors, both INS and GPS can be integrated and used to attain more smooth, accurate and faster aircraft attitude estimates, as they have complementary strengths and limitations. GPS is stable for a long period and can act as an independent navigation system whereas INS is not susceptible to interference and signal losses has high radio bandwidth and works well for short intervals of time. In order to get accurate and precise attitude estimation, calculation of the parameters at different altitude using both systems is done; furthermore the comparison and contrast between the results is performed, measured quantities are transformed between various frames like longitudinal to rolling, calculation and elimination of errors is done producing the final solution. Because of integrated GPS and INS, the navigation system exhibits robustness, higher bandwidth, better noise characteristics, and long-term stability.

An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems

2012 ◽  
Vol 245 ◽  
pp. 323-329 ◽  
Author(s):  
Muhammad Ushaq ◽  
Jian Cheng Fang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Efficient Manner ◽  
Position Errors

Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

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.

Ocean Vehicle Inertial Navigation Method based on Dynamic Constraints

2018 ◽  
Vol 71 (6) ◽  
pp. 1553-1566
Author(s):  
Jiazhen Lu ◽  
Lili Xie
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
External Support ◽  
External Information ◽  
Identification Algorithm ◽  
Dynamic Identification ◽  
Dynamic Constraints ◽  
Attitude Error ◽  
Navigation Method

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.

Studies of the integrated navigation system correction in the absence of a satellite signal

2021 ◽  
Author(s):  
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Operation Mode ◽  
Satellite System ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Correction Signal ◽  
Satellite Signal ◽  
Navigation Information

The schemes of navigation systems correction are considered. The operation mode of the aircraft during navigation is analyzed. An adaptive modification of the linear Kalman filter is used to correct the navigation information. An algorithm for predicting a correction signal based on a neural network in the event of a loss of a SNS correction signal is formed. Experimental results show the effectiveness of the algorithm. Keywords aircraft; inertial navigation system; satellite system; Kalman filter; neural networks; genetic algorithm

Problem of the Vertical Deflection in High-Precision Inertial Navigation

2020 ◽  
Vol 28 (4) ◽  
pp. 3-15
Author(s):  
V.G. Peshekhonov ◽  
◽  
Keyword(s):  
Systematic Error ◽  
High Precision ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Reference Ellipsoid ◽  
Navigation Systems ◽  
Vertical Deflection ◽  
Inertial Navigation Systems ◽  
Output Data

The paper addresses the systematic error of an inertial navigation system, caused by the discrepancy between the plumb line and the normal to the reference ellipsoid surface. The methods of this discrepancy estimation, and their use for correcting the output data of inertial navigation systems are studied.

scholarly journals Multi-Instance Inertial Navigation System for Radar Terrain Imaging

2020 ◽  
Vol 12 (21) ◽  
pp. 3639
Author(s):  
Michal Labowski ◽  
Piotr Kaniewski
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Time Duration ◽  
Navigation Data ◽  
Positioning Errors ◽  
Measurement Session ◽  
Single Aperture ◽  
Gps System

Navigation systems used for the motion correction (MOCO) of radar terrain images have several limitations, including the maximum duration of the measurement session, the time duration of the synthetic aperture, and only focusing on minimizing long-term positioning errors of the radar host. To overcome these limitations, a novel, multi-instance inertial navigation system (MINS) has been proposed by the authors. In this approach, the classic inertial navigation system (INS), which works from the beginning to the end of the measurement session, was replaced by short INS instances. The initialization of each INS instance is performed using an INS/GPS system and is triggered by exceeding the positioning error of the currently operating instance. According to this procedure, both INS instances operate simultaneously. The parallel work of the instances is performed until the image line can be calculated using navigation data originating only from the new instance. The described mechanism aims to perform instance switching in a manner that does not disturb the initial phases of echo signals processed in a single aperture. The obtained results indicate that the proposed method improves the imaging quality compared to the methods using the classic INS or the INS/GPS system.

An Accuracy Evaluation of a Civil Inertial Navigation System

1967 ◽  
Vol 20 (4) ◽  
pp. 449-463
Author(s):  
P. R. J. Reynolds
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Federal Aviation Administration ◽  
Civil Aviation ◽  
Accuracy Evaluation ◽  
Navigation Systems ◽  
Evaluation Programme ◽  
Primary Object ◽  
Normal Manner

This paper covers the performance of the Sperry SGN-10 Inertial Navigation System as demonstrated by the operation of dual systems installed in a standard operational configuration aboard four jet aircraft of Pan American World Airways incidental to a preoperational engineering evaluation programme conducted for the Federal Aviation Administration during the latter part of 1966. The primary object of this evaluation programme was to determine the system's capability of meeting the following requirements of the F.A.A.'s Advisory Circular covering the use of inertial navigation systems in U.S.- registered civil aircraft, namely:(1) Maintain a position accuracy within 20 n.m. in the across-track dimension and 25 n.m. in the along-track dimension for 95 per cent of the time on flights up to and including ten hours duration.(2) Automatically accomplish initial platform alignment in a normal manner in latitudes up to and including the highest normally used in civil aviation.(3) Perform all its designed navigational functions in a normal manner at all latitudes, inclusive of polar and equatorial overflights.

Vision Navigation with Salient Features for Autonomous Aircraft

2013 ◽  
Vol 278-280 ◽  
pp. 1237-1241
Author(s):  
Jun Wei Yu ◽  
Nan Liu ◽  
Gui Cai Wang ◽  
Xiao Bo Jin
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Vision System ◽  
Control Points ◽  
Vision Navigation ◽  
State Information ◽  
Aircraft Navigation ◽  
Autonomous Aircraft ◽  
Sequential Images

A novel technique of vision-aided navigation for autonomous aircraft is presented in this paper. The aircraft’s position and pose are estimated with several control points. The saliency descriptor of corner is defined and the control points are selected according their saliency. Control points are tracked in sequential images based on Fourier-Melline transform. The unscented Kalman filter is used to fuse the aircraft state information provided by the vision system and the inertial navigation system. Experiments show that the accuracy, efficiency and robustness of aircraft navigation system are improved with the proposed method.

Enhanced Accuracy Navigation Solutions Realized through SINS/GPS Integrated Navigation System

2013 ◽  
Vol 332 ◽  
pp. 79-85
Author(s):  
Outamazirt Fariz ◽  
Muhammad Ushaq ◽  
Yan Lin ◽  
Fu Li
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Position Errors ◽  
Strapdown Inertial Navigation

Strapdown Inertial Navigation Systems (SINS) displays position errors which grow with time in an unbounded manner. This degradation is due to the errors in the initialization of the inertial measurement unit, and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Improvement to this unbounded growth in errors can be made by updating the inertial navigation system solutions periodically with external position fixes, velocity fixes, attitude fixes or any combination of these fixes. The increased accuracy is obtained through external measurements updating inertial navigation system using Kalman filter algorithm. It is the basic requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertial Navigation System (SINS), Global Positioning System (GPS) is presented using a centralized linear Kalman filter.

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