scholarly journals A Low-Cost MEMS Missile-Borne Compound Rotation Modulation Scheme

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4910
Author(s):  
Xiaoqiao Yuan ◽  
Jie Li ◽  
Xi Zhang ◽  
Kaiqiang Feng ◽  
Xiaokai Wei ◽  
...  
Keyword(s):  
Rotation Axis ◽  
Low Cost ◽  
Roll Angle ◽  
Modulation Scheme ◽  
Navigation Systems ◽  
Rotation Scheme ◽  
Compound Rotation ◽  
Error Accumulation ◽  
Axis Rotation ◽  
Single Axis Rotation

Rotation modulation (RM) has been widely used in navigation systems to significantly improve the navigation accuracy of inertial navigation systems (INSs). However, the traditional single-axis rotation modulation cannot achieve the modulation of all the constant errors in the three directions; thus, it is not suitable for application in highly dynamic environments due to requirements for high precision in missiles. Aiming at the problems of error accumulation and divergence in the direction of rotation axis existing in the traditional single-axis rotation modulation, a novel rotation scheme is proposed. Firstly, the error propagation principle of the new rotation modulation scheme is analyzed. Secondly, the condition of realizing the error modulation with constant error is discussed. Finally, the original rotation modulation navigation algorithm is optimized for the new rotation modulation scheme. The experiment and simulation results show that the new rotation scheme can effectively modulate the error divergence of roll angle and improve the accuracy of roll angle by two orders of magnitude.

Single-Axis Rotation Modulation of SINS

2013 ◽  
Vol 313-314 ◽  
pp. 643-646 ◽  
Author(s):  
Yu Liang Mao ◽  
Jia Bin Chen ◽  
Chun Lei Song ◽  
Jing Yuan Yin
Keyword(s):  
Theoretical Analysis ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensors ◽  
Rotation Speed ◽  
Rotation Axis ◽  
Constant Bias ◽  
Rotation Scheme ◽  
Axis Rotation ◽  
Single Axis Rotation

In order to effectively inhibit the influence of constant bias of inertial sensors on strapdown inertial navigation system accuracy, a self-compensation method based on single-axis rotation modulation is proposed. It is shown by theoretical analysis that, the gyro constant drift and zero errors of accelerometer perpendicular to the rotation axis can be modulated to sinusoidal signal, which will be eliminated by integral. The constant bias along the rotation axis cannot be modulated. The effectiveness of the rotation scheme is proved by experiment and the influence of rotation speed is demonstrated.

Error Auto-Compensation Methods of Improved Single-Axial Rotation INS

2013 ◽  
Vol 791-793 ◽  
pp. 1046-1049
Author(s):  
Guo Ping Li ◽  
Yan Bin Gao ◽  
Ting Jun Wang ◽  
Lian Wu Guan
Keyword(s):  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Rotation Axis ◽  
Axial Rotation ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Compensation Methods ◽  
Axis Rotation ◽  
System Errors ◽  
Single Axis Rotation

An Auto-Compensation of inertial navigation system (INS) based on improved single-axis rotation has been proposed in the paper. Inertial Measurement Unit (IMU) is tilt mounted, e.g. neither perpendicularly, nor coaxially, with the rotation axis. Analysis and derivation show that this angle arrangement of IMU can restrain the expansion of the system errors caused by IMU. Simulations demonstrated the coincidence of the theoretical analysis and the system performances

scholarly journals Particle-Filter-Based WiFi-Aided Reduced Inertial Sensors Navigation System for Indoor and GPS-Denied Environments

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
M. M. Atia ◽  
M. J. Korenberg ◽  
A. Noureldin
Keyword(s):  
Particle Filter ◽  
Inertial Sensors ◽  
Low Cost ◽  
Indoor Navigation ◽  
Feature Reduction ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Error Accumulation ◽  
Non Gaussian ◽  
Multipath Errors

Indoor navigation is challenging due to unavailability of satellites-based signals indoors. Inertial Navigation Systems (INSs) may be used as standalone navigation indoors. However, INS suffers from growing drifts without bounds due to error accumulation. On the other side, the IEEE 802.11 WLAN (WiFi) is widely adopted which prompted many researchers to use it to provide positioning indoors using fingerprinting. However, due to WiFi signal noise and multipath errors indoors, WiFi positioning is scattered and noisy. To benefit from both WiFi and inertial systems, in this paper, two major techniques are applied. First, a low-cost Reduced Inertial Sensors System (RISS) is integrated with WiFi to smooth the noisy scattered WiFi positioning and reduce RISS drifts. Second, a fast feature reduction technique is applied to fingerprinting to identify the WiFi access points with highest discrepancy power to be used for positioning. The RISS/WiFi system is implemented using a fast version of Mixture Particle Filter for state estimation as nonlinear non-Gaussian filtering algorithm. Real experiments showed that drifts of RISS are greatly reduced and the scattered noisy WiFi positioning is significantly smoothed. The proposed system provides smooth indoor positioning of 1 m accuracy 70% of the time outperforming each system individually.

Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Shengjie Wang ◽  
Kun Wang ◽  
Chunsong Zhang ◽  
Jian S Dai
Keyword(s):  
Optimal Design ◽  
Energy Analysis ◽  
Rotation Axis ◽  
Low Cost ◽  
Minimum Energy ◽  
Design Parameters ◽  
Quadruped Robots ◽  
Design Idea ◽  
The Relationship

Abstract A kinetostatic approach applied to the design of a backflip strategy for quadruped robots is proposed in this paper. Inspired by legged animals and taking the advantage of the leg workspace, this strategy provides an optimal design idea for the low-cost quadruped robots to achieve self-recovery after overturning. Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.

scholarly journals Low-Cost and Energy-Saving Wireless Sensor Network for Real-Time Urban Mobility Monitoring System

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Joyoung Lee ◽  
Zijia Zhong ◽  
Bo Du ◽  
Slobodan Gutesa ◽  
Kitae Kim
Keyword(s):  
Energy Saving ◽  
Fiber Optics ◽  
Monitoring System ◽  
Data Center ◽  
Low Cost ◽  
Wireless Sensor ◽  
Navigation Systems ◽  
Urban Mobility ◽  
Proof Of Concept ◽  
Sensor Unit

This paper presents a low-cost and energy-saving urban mobility monitoring system based on wireless sensor networks (WSNs). The primary components of the proposed sensor unit are a Bluetooth sensor and a Zigbee transceiver. Within the WSN, the Bluetooth sensor captures the MAC addresses of Bluetooth units equipped in mobile devices and car navigation systems. The Zigbee transceiver transmits the collected MAC addresses to a data center without any major communications infrastructures (e.g., fiber optics and 3G/4G network). A total of seven prototype sensor units have been deployed on roadway segments in Newark, New Jersey, for a proof of concept (POC) test. The results of the POC test show that the performance of the proposed sensor unit appears promising, resulting in 2% of data drop rates and an improved Bluetooth capturing rate.

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