Journal ArticleDOI
Kalman filter mechanization for INS airstart
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In this article, a strapdown mechanization and associated Kalman filter are developed to provide both ground align and airstart capabilities for inertial navigation systems (INSs) using Doppler velocity and position fixes, while not requiring an initial heading estimate.Abstract:
A strapdown mechanization and associated Kalman filter are developed to provide both ground align and airstart capabilities for inertial navigation systems (INSs) using Doppler velocity and position fixes, while not requiring an initial heading estimate. Position update during coarse mode is possible by defining sine and cosine of wander angle as filter states and modeling the position error in geographic frame while integrating velocity in the wander frame. INS Global Positioning System (GPS) differential position due to GPS antenna moment arm can aid heading convergence during hover turns in helicopter applications. Azimuth error state in the fine mode of the filter is defined as wander angle error to provide continuous estimation of navigational states, as well as inertial/aiding sensor errors, across the coarse-to-fine mode transition. Though motivated by a tactical helicopter application, the design can be applied to other vehicles. Advantages over conventional systems in addition to the airstart capability include robustness and versatility in handling many different operational conditions. >read more
Citations
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Book
Applied mathematics in integrated navigation systems
TL;DR: This text/CD-ROM presents elements of basic mathematics, kinematics, equations describing navigation systems and their error models, and Kalman filtering.
Proceedings ArticleDOI
Inertial navigator error models for large heading uncertainty
TL;DR: In this article, the authors present a generalization of the /spl psi/-angle small error model described by Wauer and Scherzinger-Reid (1994) for a strapdown inertial navigator whose platform azimuth is completely unknown.
Journal ArticleDOI
INS algorithm using quaternion model for low cost IMU
TL;DR: A generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption is presented and an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment.
Proceedings ArticleDOI
Development of a nonlinear psi-angle model for large misalignment errors and its application in INS alignment and calibration
TL;DR: This work presents a general nonlinear psi-angle approach that does not require coarse alignment and is identical to the standard small error methods when the process errors diminish to small angles.
Proceedings ArticleDOI
High performance Doppler-inertial navigation-experimental results
TL;DR: In this paper, the MARPOS(R) Doppler-inertial navigation system jointly implemented by Maridan A/S, Denmark, and the Technical University of Denmark for use onboard the MARIDAN series of AUVs is presented.
References
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Book
Inertial navigation systems analysis
TL;DR: In this paper, a mechanization and error analysis of inertial navigation systems is presented, with an emphasis on terrestrial applications on or slightly above the earth's surface, and a unified error analysis technique is developed that is applicable to virtually all system configurations.
Journal ArticleDOI
A Comparison of Two Approaches to Pure-Inertial and Doppler-Inertial Error Analysis
TL;DR: In this article, error equations for inertial navigation systems are derived using a perturbation (or true frame) approach and a psi angle (or computer frame) in a manner which shows the underlying as sumptions and allows direct comparison of the two methods.
Strapdown System Algorithms
TL;DR: The attitude determination, acceleration transformation, and attitude/heading output computational operations performed in modern-day strapdown inertial navigation systems are addressed and contemporary algorithms are described for implementing these operations in real-time computers.