Proceedings ArticleDOI
Initial attitude determination and correction of gyro-free INS angular orientation on the basis of GPS linear navigation parameters
K.S. Mostov,A.A. Soloviev,T.J. Koo +2 more
- pp 1034-1039
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TLDR
This paper is devoted to the description of the proposed solution method for the determination of the initial angular orientation and correction of gyro-free INS angular characteristics on the basis of linear navigation parameters (coordinates and velocity) that are obtained from GPS.Abstract:
The exclusion of gyroscopes from navigation system architecture achieves an essential reduction in systems cost. However, the absence of gyroscopes leads to the growth of errors in the determination of navigation system angular orientation. This, in its turn, leads to the growth of errors in the determination of vehicle coordinates. Therefore, one of the main problems in the construction of an integrated navigation system, which is based on a gyro-free inertial navigation system (INS) and a single antenna Global Positioning System (GPS), is the determination of the initial angular orientation and correction of gyro-free INS angular characteristics on the basis of linear navigation parameters (coordinates and velocity) that are obtained from GPS. This paper is devoted to the description of the proposed solution method for this problem.read more
Citations
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Journal ArticleDOI
Design and Implementation of a Mechatronic, All-Accelerometer Inertial Measurement Unit
TL;DR: In this paper, the design, calibration, simulation, and experimental validation of a kinematically redundant inertial measurement unit that is based solely on accelerometers is discussed, and a novel procedure is developed through which the acceleration measurements can be used to directly determine the body angular velocity; this results in a major accuracy improvement over previous works whereby the angular velocity is obtained via integrating the angular acceleration.
Journal ArticleDOI
Constrained Angular Motion Estimation in a Gyro-Free IMU
TL;DR: The constraints in the filter are incorporated to improve the accuracy of the angular motion estimation, which in turn improves the attitude accuracy (direction cosine matrix (DCM) or quaternion vector).
Journal ArticleDOI
Design and analysis of gyro-free inertial measurement units with different configurations
TL;DR: In this article, the condition number of the configuration matrix is proposed as a fundamental criterion for configuration evaluation, and an optimal design is identified from the four configurations, which significantly reduces the influence of the four different configurations on state estimation.
Journal ArticleDOI
Three-Dimensional Navigation with Scanning Ladars: Concept & Initial Verification
Andrey Soloviev,M.U. de Haag +1 more
TL;DR: This paper investigates the use of scanning laser radars (LADARs) for 3D navigation of autonomous vehicles in structured environments such as outdoor urban navigation scenarios and develops algorithms based on planar surfaces extracted from LADAR scan images.
Navigation in GPS Denied Environments: Feature-Aided Inertial Systems
Mikel M. Miller,Andrey Soloviev,Maarten Uijt de Haag,Michael J. Veth,John F. Raquet,Timothy J. Klausutis,Jimmy Touma +6 more
TL;DR: The latest alternative navigation technologies based on electro-optical techniques are described, which should lead to navigation performance similar to that achieved in today s GPS/INS integrations.
References
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Journal ArticleDOI
Gyroscope Free Strapdown Inertial Measurement Unit by Six Linear Accelerometers
TL;DR: In this article, a six-accelerome ter configuration is presented to compute the rotationa^ and translational acceleration of a rigid body, which can be integrated with other sensors of complementary characteristics to enhance the performance.
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