Embedded Micro Inertial Navigation System

2012 ◽  
Vol 249-250 ◽  
pp. 1234-1246 ◽  
Author(s):  
Krzysztof Daniec ◽  
Karol Jędrasiak ◽  
Roman Koteras ◽  
Aleksander Nawrat
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Ground Vehicles ◽  
Fusion Algorithm ◽  
Loosely Coupled ◽  
Navigation Algorithm ◽  
University Of Technology ◽  
Point To Point ◽  
And Robotics

This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.

Research on Rotating Modulated Strap-Down Inertial Navigation System Based on Micro-Electro-Mechanical Systems (MEMS) Sensors (RMSINS)

2011 ◽  
Vol 148-149 ◽  
pp. 192-197 ◽  
Author(s):  
Tao Xu ◽  
Bin Wang ◽  
Xue Yun Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Mechanical Systems ◽  
Inertial Navigation ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Navigation Algorithm ◽  
Improving Accuracy ◽  
Performance Results ◽  
Advanced Development

Advanced development of an Inertial Navigation System (INS) using rotating modulated technique based on Micro-Electro-Mechanical Systems (MEMS) sensors is described. The system architecture and the mechanical structure are detailed. Alignment and navigation algorithms apposite to the RMSINS system are derived. Preliminary system static navigation experiment results are presented. Performance results show that rotating modulated technology, with appropriate navigation algorithm, makes it possible to use the MEMS sensors in SINS system, with the benefit of reducing system costs as well as improving accuracy.

scholarly journals Model of the inertial and optical navigation system of the unmanned aerial vehicle

2020 ◽  
pp. 17-25
Author(s):  
A. M. Kovalenko ◽  
A. A. Shejnikov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Navigation System ◽  
Short Range ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Optical Navigation ◽  
Loosely Coupled ◽  
Systematic Component ◽  
Aerial Vehicle ◽  
Navigational Systems

In article approaches to creation of the complex inertial and optical navigation system of the short-range tactical unmanned aerial vehicle are considered. Algorithms constant and periodic (in intermediate points of a route) are offered correction of the platformless onboard inertial navigation system. At integration of information on parameters of the movement of the unmanned aerial vehicle (received from the considered systems) the invariant loosely coupled scheme of data processing on the basis of the expanded filter of Kallman was used that allowed to lower significantly a systematic component of an error of the platformless inertial navigation system. Advantages of the complex inertial and optical navigation system when ensuring flight of the unmanned aerial vehicle in an area of coverage of means of radio-electronic fight of the opponent are shown. The results of modeling confirming a possibility of ensuring precision characteristics of the inertial and optical navigation system in the absence of signals of satellite radio navigational systems are presented.

On the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units

2014 ◽  
Vol 136 (2) ◽  
Author(s):  
Jonathan G. Ryan ◽  
David M. Bevly
Keyword(s):  
Global Positioning System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Degree Of Freedom ◽  
Measurement Unit ◽  
Positioning System ◽  
Inertial Measurement ◽  
Loosely Coupled ◽  
Global Positioning

This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPS/INS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable.

On In Situ Calibration of SINS and Doppler Dead Reckoning Navigation System

2012 ◽  
Vol 479-481 ◽  
pp. 2610-2615
Author(s):  
Kai Yao ◽  
Qi Dan Zhu ◽  
Bo Zhang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Dead Reckoning ◽  
Strapdown Inertial Navigation System ◽  
Doppler Velocity ◽  
Navigation Algorithm ◽  
Calibration Algorithm ◽  
Strapdown Inertial Navigation

This paper addresses a practical problem arising in the calibration of bottom-lock doppler velocity log for the navigation of surface ships. Firstly, a dead reckoning navigation algorithm and briefly error analyze are proposed. Then, employing ship’s true trajectory and calculated trajectory, the rotational alignment offset between a bottom-lock doppler velocity log and a strapdown inertial navigation system as well as the scale factor error of the doppler velocity log can be experimentally determined using sensors commonly deployed with a vehicle in the field. It requires velocity values from the vehicle's doppler log and strapdown inertial navigation system, and absolute vehicle position fixes from a GPS receiver. Lake experiment results show that the calibration algorithm can calibrate the error parameters effectively, thus the position error decreases significantly after compensating the error parameters.

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