Error Analyzing Method for Rotation Inertial Navigation System Based on Fourier Transform

2013 ◽  
Vol 336-338 ◽  
pp. 982-987 ◽  
Author(s):  
Jian Hua Cheng ◽  
Bing Yu Wang ◽  
Dai Dai Chen
Keyword(s):  
Fourier Transform ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Low Frequency ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
Frequency Components ◽  
Navigation Errors

According with the problem that the error propagative characteristics of rotation inertial navigation system can not be quantitatively analyzed, a new error analyzing method is proposed. As the inertial navigation system can be equivalent to a low pass filter, the method converted the complex gyro drifts into signal which can be quantitatively analyzed after modulating through Fourier transform, thus the low frequency components of the error can be extracted. The relationship between navigation errors and gyro drifts is built by using the conventional error equations of strapdown inertial navigation system. The comparative analyses and computer simulation of conventional, uniaxial unidirectional and uniaxial reciprocating system prove the correctness and feasibility of this method. This method provides an effective reference for other same types of control system error analyses.

An Augmented Strapdown Inertial Navigation System using Jerk and Jounce of Motion for a Flying Robot

2017 ◽  
Vol 70 (4) ◽  
pp. 907-926 ◽  
Author(s):  
Milad Bayat ◽  
MA Amiri Atashgah
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Inertial Navigation ◽  
Satellite System ◽  
Strapdown Inertial Navigation System ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Flying Robot ◽  
Strapdown Inertial Navigation

This paper offers an algorithm for enhancement of positioning accuracy of a quad-rotor flying robot, based on jerk and jounce of motion. The suggested method utilises the first and second numerical derivatives of the vehicle's acceleration and augments the mathematical model in the estimation process. For this purpose, the Kalman Filter (KF) is implemented for integration of a Strapdown Inertial Navigation System (SINS) and Global Navigation Satellite System (GNSS). The required data are collected from a low-cost/quality Micro Electromechanical Sensors (MEMS) during an assisted flight. For increasing the precision and accuracy of the collected data, all instruments including accelerometers, gyroscopes and magnetometers are calibrated before the experiments. Moreover, to reduce and limit the measurement noises of the MEMS sensor, a low-pass filter is applied; this is while sensors in the autopilot are affected by high levels of noise and drift, which makes them inappropriate for accurate positioning. The experimental results exhibit an improvement in positioning and altitude sensing through augmentation of the loosely coupled SINS/GNSS navigation method.

scholarly journals Individual Autonomous Navigation System

2017 ◽  
Vol 2017 (3) ◽  
pp. 84-106
Author(s):  
Stanisław Popowski ◽  
Witold Dąbrowski
Keyword(s):  
Navigation System ◽  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Vertical Channel ◽  
Walking Test ◽  
Basic Assumptions ◽  
Autonomous Functioning ◽  
The Individual ◽  
Navigation Errors

Abstract The article presents the Individual Autonomous System Navigation (IANS) supporting–rescuer or firemen in terms of navigation. Basic assumptions, which such a system has to fulfill in terms of functionality and accuracy, are presented. The concept of the ISAN system is based on the implementation of inertial navigation system which the only one to permit fully autonomous functioning. Measurement sensors of the navigation system with microprocessor board are placed in the rescuer’s shoe. To limit the escalation of the navigation errors value, which in the case of inertial navigation rises exponentially, a procedure of navigation parameters upgrading at every step of the rescuer is introduced to the proposed system. This procedure guarantees the required accuracy of navigation achievement. The article describes a developed and manufactured demonstrator of the technology and presents main results of its research. The research conducted in a building consisted in walking on the same level several hundred meters in less than 10 minutes. A walking test with a change of walking height was also performed in order to estimate the accuracy of the vertical channel. Results of the demonstrator’s tests let us conclude that the error of navigation is below 1% of the travelled distance and the accuracy is linear in respect to time. The achieved accuracy is fully sufficient for a practical IANS application.

A New Capacitance Multiplier Structure with High Multiplication Factor for Ultra-Low-Frequency Filter in Biomedical Applications

2019 ◽  
Vol 29 (07) ◽  
pp. 2050109
Author(s):  
Yan Li ◽  
Yong Liang Li
Keyword(s):  
Biomedical Applications ◽  
Low Frequency ◽  
Multiplication Factor ◽  
Frequency Filter ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Physiological Signal ◽  
Wide Range ◽  
Low Pass ◽  
Capacitance Multiplier

A novel capacitance multiplier is proposed to implement an ultra-low-frequency filter for physiological signal processing in biomedical applications. With the proposed multiplier, a simple first-order low-pass filter achieves a [Formula: see text]3-dB frequency of 33.4[Formula: see text]μHz with a 1-pF capacitance and a 20[Formula: see text]k[Formula: see text] resistance. This corresponds to a multiplication factor of as large as [Formula: see text]. By changing the controlling terminal, the [Formula: see text]3-dB frequency can be tuned in a wide range of 33.4[Formula: see text]μHz–6.3[Formula: see text]kHz.

scholarly journals Analysis and Self-Calibration Method for Asynchrony between Sensors in Rotation INS

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2921 ◽  
Author(s):  
Jie Sui ◽  
Lei Wang ◽  
Tao Huang ◽  
Qi Zhou
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Velocity Error ◽  
Self Calibration ◽  
Axis Rotation ◽  
The Impact ◽  
Navigation Errors

The gyroscope, accelerometer and angular encoder are the most important components in a dual-axis rotation inertial navigation system (RINS). However, there are asynchronies among the sensors, which will thus lead to navigation errors. The impact of asynchrony between the gyroscope and angular encoder on the azimuth error and the impact of asynchrony between the gyroscope and accelerometer on the velocity error are analyzed in this paper. A self-calibration method based on navigation errors is proposed based on the analysis above. Experiments show that azimuth and velocity accuracy can be improved by compensating the asynchronies.

Design of the Broadband Standard Signal Generator for Laser Locating System of the Mine Hoisting Container

2013 ◽  
Vol 427-429 ◽  
pp. 2033-2036
Author(s):  
Di Fan ◽  
Yan Gao ◽  
Yue Zhao
Keyword(s):  
High Frequency ◽  
Low Frequency ◽  
Frequency Standard ◽  
Analog Filters ◽  
Laser Ranging ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Noise Disturbance ◽  
Standard Signal ◽  
Low Pass

As the key junction between the ground and underground, hoisting systems as well as mines themselves are of vital importance to coalmine production. Laser ranging method is studied as a new solution of getting the real-time position directly. Furthermore, multi-scale phase based laser ranging principles are utilized in the system. The paper is aimed to conduct research into the problems existing in standard signal generating while using laser to locating the hoisting container, and to design standard sine generator circuits with DDS technology and DDS devices AD9850 to generate multiple frequency standard signals. In view of the serious noise disturbance in high frequency output, 4-order Chebyshev low-pass filter is designed, by using the integrated analog filters LT 6600-15, to filter the sine signals from AD9850 and to effectively weaken the noise disturbance. The established practical circuits are tested, obtaining trillion level high frequency and low frequency sine signals and fulfilling the requirements for the location system of hoisting containers.

scholarly journals Inductanceless high order low frequency filters for medical applications

2022 ◽  
Vol 12 (2) ◽  
pp. 1299
Author(s):  
Noor Thamer Almalah ◽  
Faris Hasan Aldabbagh
Keyword(s):  
Integrated Circuit ◽  
Low Frequency ◽  
Negative Resistance ◽  
Acceptable Result ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Transconductance Amplifier ◽  
Low Pass ◽  
Minimum Number ◽  
Order Butterworth Filter

<p>In this paper, a designed circuit used for low-frequency filters is implemented and realized the filter is based on frequency-dependent negative resistance (FDNR) as an inductor simulator to substitute the traditional inductance, which is heavy and high cost due to the coil material manufacturing and size area. The simulator is based on an active operation amplifier or operation transconductance amplifier (OTA) that is easy to build in an integrated circuit with a minimum number of components. The third and higher-order Butterworth filter is simulated at low frequency for low pass filter to use in medical instruments and low-frequency applications. The designed circuit is compared with the traditional proportional integral controller enhanced (PIE) and T section ordinary filter. The results with magnitude and phase response were compared and an acceptable result is obtained. The filter can be used for general applications such as medical and other low-frequency filters needed.</p>

TECHNIQUE OF APPLICATION FOR PROCESSING OF LOW PASS FILTER LF SIGNALS

10.12737/7905 ◽  
2015 ◽  
Vol 7 (4) ◽  
pp. 35-38
Author(s):  
Табаков ◽  
Yu. Tabakov ◽  
Лавлинский ◽  
V. Lavlinskiy
Keyword(s):  
Mathematical Model ◽  
Block Diagram ◽  
Low Frequency ◽  
Frequency Signal ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
The Mathematical Model ◽  
40 Hz

The article includes a block diagram and the mathematical model for low pass filter designed for processing low frequency signal with a frequency of 10-40 Hz in order of eliminate various noises and interference.

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