Modeling and Optimizing of Random Gyro Drift Based on AR and GP

2014 ◽  
Vol 602-605 ◽  
pp. 821-825
Author(s):  
Lin Lv ◽  
Wei Quan
Keyword(s):  
Genetic Programming ◽  
Linear Model ◽  
Nonlinear Model ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Hybrid Modeling ◽  
Random Drift ◽  
The Stability ◽  
Gyro Drift

Gyroscope is the key component in an Inertial Navigation System (INS). It depends on the precision of the INS. The nonlinear random drift error model based on autoregressive (AR) and genetic programming (GP) was established. The linear model is established based on AR technique. After that, the nonlinear model is built based on GP technique. The result indicates that the square error of the random gyro drift is reduced by 74.5%. The hybrid modeling method can effectively compensate the random gyro drift and improve the stability of the system.

Estimating Gyro Drift of Strapdown Inertial Navigation System Based on Star Sensor

2012 ◽  
Vol 566 ◽  
pp. 235-238
Author(s):  
Guang Tao Zhou ◽  
Gui Min Shi ◽  
Lei Zhang ◽  
Kai Li
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Model Simulation ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Star Sensor ◽  
Integrated Navigation ◽  
Working Principle ◽  
Gyro Drift ◽  
Strapdown Inertial Navigation

In the strapdown inertial navigation system (SINS), gyro drift will result in navigation errors. A new algorithm based on star sensor is proposed in this paper to estimate gyro drift. The paper analyzed the working principle of star sensor and the technique of estimating gyro drift. Gyro drift can be estimated through the high-precision attitude information provided by a star sensor. Kalman filter is used in the integrated navigation model. Simulation results show that the proposed algorithm can estimate gyro drift accurately and improve the precision of SINS.

Parametric identification of the error model for the aircraft inertial navigation system

2021 ◽  
Author(s):  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Estimation Algorithm ◽  
Parametric Identification ◽  
Average Frequency ◽  
Estimation Accuracy ◽  
Navigation Systems ◽  
Random Drift ◽  
Simple Method

The problem of increasing the accuracy at estimating the inertial navigation systems errors by using identifying the parameters of the model is investigated. A scheme for correcting navigation systems with an estimation algorithm is presented. The accuracy of the errors estimation for the inertial navigation system by using the nonstationary adaptive Kalman filter when the average frequency of the gyroscope random drift changes is determined. A simple method for parametric identification of the change average frequency of a random drift by using a tuning coefficient is proposed. The results analysis of the estimation algorithm modeling by using the data of laboratory experiments with the serial navigation system Ts-060K is carried out. In the models of the estimation algorithm different average frequency values of the random drift change are used. Keywords aircraft; inertial navigation system; estimation algorithm; parametric identification; average frequency of random gyroscope drift; tuning factor; estimation accuracy

Switching Method for Long-Term Inertial Navigation System Based on Switched Control

2019 ◽  
Vol 72 (5) ◽  
pp. 1315-1330
Author(s):  
Zhihong Deng ◽  
Lei Shi ◽  
Tong Liu ◽  
Bo Wang
Keyword(s):  
Exponential Stability ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Average Dwell Time ◽  
Sufficient Condition ◽  
Switched Control ◽  
The Stability ◽  
Switching Method

The switching between a damped and an undamped Inertial Navigation System (INS) is an important technical method to ensure its long-term accuracy. The stability of switching is of great importance. This paper studies the switching stability problem between a damped and an undamped INS. A model of an inertial navigation switching system is established by introducing switched control. The average dwell time method is used to analyse stability and a sufficient condition of exponential stability is given. The condition is also extended to the switched system containing constant disturbance and the sufficient condition of exponential stability. The effect of introducing switched control for the smooth operation of the system is verified and the accuracy of a long-term INS is improved effectively.

scholarly journals Research on In-Flight Alignment for Micro Inertial Navigation System Based on Changing Acceleration using Exponential Function

Micromachines ◽  
2018 ◽  
Vol 10 (1) ◽  
pp. 24 ◽  
Author(s):  
Yun Xu ◽  
Tong Zhou
Keyword(s):  
Exponential Function ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Field Experiments ◽  
Inertial Navigation ◽  
Rolling Angle ◽  
Attitude Error ◽  
Heading Angle ◽  
Initial Attitude ◽  
The Stability

In order to guarantee the stable flight of a guided projectile, it is difficult to realize in-flight alignment for the micro inertial navigation system (MINS) during its short flight time. In this paper, a method based on changing acceleration using exponential function is proposed. First, double-vector observations were derived. Then the initial attitude for the guided projectiles was estimated by the regressive quaternion estimation (QUEST) algorithm. Further, the estimated errors were analyzed, and the reason for using the changing acceleration for the in-flight alignment was explained. A simulation and semi-physical experiment was performed to show the effectiveness of the proposed method. The results showed that the initial attitude error for the rolling angle was about 0.35°, the pitch angle was about 0.1° and the heading angle was about 0.6°, in which the initial shooting angle was between 15° and 55°. In future studies, the field experiments will be carried out to test the stability of the proposed in-flight alignment for guided projectiles.

The Indoor Automatic Guided Vehicle with an IR Positioning and Low-Cost Inertial Navigation System

2013 ◽  
Vol 300-301 ◽  
pp. 494-499
Author(s):  
Ming Feng Lu ◽  
Bang Cheng Liu ◽  
Jian Ping Wu ◽  
Fu Kuo Hsu ◽  
Wen Tzeng Huang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Inertial Navigation ◽  
Time Interval ◽  
Long Distance ◽  
Automatic Guided Vehicle ◽  
Long Time ◽  
The Stability ◽  
Almost All

In this study an indoor automatic guided vehicle (AGV) which is not a line-following type is constructed. Low-cost inertial navigation system (INS) and indoor positioning system (IPS) are proposed to replace the high-cost laser navigation system. These AGVs are guided by their own INS almost all the time of running in our system. The IPS constructed by infrareds is used to calibrate the accumulative errors of the inertial system after a specific time interval. Testing results show deviation is about 5% after long time and long distance of movement. This research proves the stability of this system which allows AGVs to work in warehouses by low-cost INS and IPS.

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