Performance characteristics of transponder-aided versus GPS-aided inertial navigation systems

1986 ◽  
Author(s):  
C. SMITH, JR. ◽  
D. BIEZAD
Keyword(s):  
Inertial Navigation ◽  
Performance Characteristics ◽  
Navigation Systems ◽  
Inertial Navigation Systems

scholarly journals A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2947
Author(s):  
Ming Hua ◽  
Kui Li ◽  
Yanhong Lv ◽  
Qi Wu
Keyword(s):  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Measurement Information ◽  
Dynamic Calibration ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Additional Information ◽  
Two Systems ◽  
Dynamic Calibration Method

Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.

Analysis of Three Velocity Plus Attitude Matching Methods for Transfer Alignment

2012 ◽  
Vol 433-440 ◽  
pp. 2802-2807
Author(s):  
Ying Hong Han ◽  
Wan Chun Chen
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Excellent Performance ◽  
Transfer Alignment ◽  
Matching Methods ◽  
Moving Base

For inertial navigation systems (INS) on moving base, transfer alignment is widely applied to initialize it. Three velocity plus attitude matching methods are compared. And Kalman filter is employed to evaluate the misalignment angle. Simulations under the same conditions show which scheme has excellent performance in precision and rapidness of estimations.

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.

Design, modeling, and simulation of an INS system using an asymmetric structure of six accelerometers and its error analysis in the ECEF frame

2016 ◽  
Vol 231 (13) ◽  
pp. 2345-2361 ◽  
Author(s):  
Vahid Ghasemzadeh ◽  
Mohammad M Arefi
Keyword(s):  
Error Analysis ◽  
Lower Cost ◽  
Inertial Navigation ◽  
Asymmetric Structure ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Symmetric Structure ◽  
Angular Velocities ◽  
Dynamic Relations ◽  
Short Time

The inertial navigation system is one of the most important and common methods of navigation. In this system, accelerometers and gyroscopes are used to measure linear accelerations and angular velocities, respectively. Accelerometers have simpler manufacture techniques, lower cost, and smaller volume and weight in comparison with gyroscopes. Therefore, in some application of navigation systems, non-gyro inertial navigation systems based on accelerometers are used. In this paper, an asymmetric structure of six accelerometers is proposed. Then dynamic relations of this structure are extracted. This structure and its relations can determine linear accelerations and angular velocities, completely. Moreover, the algorithm of inertial navigation in earth centered earth fixed (ECEF) frame is suggested. Error analysis as of the most important issues in inertial navigation is discussed. Thus, bias, misalignment, sensitivity, and noise of accelerometers are modeled appropriately. In addition, a symmetric structure of accelerometers is proposed and its equations are derived. Finally, the designed system, error model of accelerometers, and algorithm of inertial navigation in ECEF frame are simulated. The results of simulation show that the designed system has suitable accuracy and applications for short time navigation. Furthermore, results confirm that the proposed asymmetric structure requires less accelerometer in comparison with symmetric structure.

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