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Showing papers on "Inertial navigation system published in 1993"


Book
01 Jan 1993
TL;DR: In this article, the authors describe the modern inertial technology used for guidance and control in navigation, including fiber-optic gyroscopes, the satellite-based global positioning system, inertial navigation systems, and solid state accelerometers.
Abstract: This book describes the modern inertial technology used for guidance and control in navigation. Sensors, gyroscopes, chronometers, and accelerometers are specifically addressed in detail and their principles, operation, design, advantages and disadvantages are discussed. An engineer with a vast practical experience in the field, the author elucidates themost recent developments in inertial guidance in the US, Europe, and Japan. Among these are fiber-optic gyroscopes, the satellite-based global positioning system, inertial navigation systems, and solid-state accelerometers. The book should thus be of great interest to researchers and graduate students as well as to system engineers and specialists involved in aeronautics and space research.

331 citations


Book
28 May 1993
TL;DR: Introduction, Coordinate Systems and Transformations, Inertial Sensors, and Kinematic Compensations Equations.
Abstract: Introduction, Coordinate Systems and Transformations Inertial Sensors Kinematic Compensations Equations Error Analysis Externally Aided Inertial Navigation Systems Steering, Speical Navigation Systems, And Modern Avionics Systems Appenices: System Performance Criteria The World Geodetic System Subject Index References

201 citations


Proceedings ArticleDOI
02 May 1993
TL;DR: An attitude estimation system based on inertial measurements for a mobile robot is described and experimental results show that the resulting system is very sensitive and accurate.
Abstract: An attitude estimation system based on inertial measurements for a mobile robot is described. Five low-cost inertial sensors are used: two accelerometers and three gyros. The robot's attitude, represented by its roll and pitch angles, can be obtained using two different methods. The first method is based on accelerometric measurements of gravity. The second one proceeds by integration of the differential equation relating the robot's attitude and its instantaneous angular velocity which is measured by the gyrometers. The results of these two methods are fused, using an extended Kalman filter. Experimental results show that the resulting system is very sensitive and accurate. >

165 citations


Journal Article
TL;DR: In this article, a general model for the georeferencing of remotely sensed data by an onboard positioning and orientation system is presented as a problem of rigid body motion, and the determination of the six independent parameters of motion by discrete measurements from inertial and satellite systems is directly related to the problem of exterior orientation.
Abstract: A general model for the georeferencing of remotely sensed data by an onboard positioning and orientation system is presented as a problem of rigid body motion. The determination of the six independent parameters of motion by discrete measurements from inertial and satellite systems is directly related to the problem of exterior orientation. The contribution of each measuring system to the determination of the three translational and three rotational parameters is treated in detail, with emphasis on the contribution of inertial navigation systems (INS) and single- and multi-antenna receivers of the Global Positioning System (GPS). The advantages of an integrated INS/GPS approach are briefly discussed

160 citations


Journal ArticleDOI
TL;DR: In this paper, the authors demonstrate that the stationary alignment of strapdown inertial navigation system (SDINS) can be improved by employing the multiposition/technique using an observability analysis, and they show that an optimal two position alignment not only satisfies complete observability conditions but also minimizes alignment errors.
Abstract: The authors demonstrate that the stationary alignment of strapdown inertial navigation system (SDINS) can be improved by employing the multiposition/technique. Using an observability analysis, it is shown that an optimal two-position alignment not only satisfies complete observability conditions but also minimizes alignment errors. This is done by analytic rank testing of the stripped observability matrix and numerical calculation of the error covariance. It is also shown that an optimal three-position alignment accelerates the convergence of the alignment error compared with two-position alignment. >

116 citations


Proceedings ArticleDOI
26 Jul 1993
TL;DR: The results show that with careful and detailed modeling of error sources, low cost inertial sensing systems can provide valuable position information.
Abstract: A low-cost, solid-state inertial navigation system for robotics applications is described. Error models for the inertial sensors are generated and included in an extended Kalman filter (EKF) for estimating the position and orientation of a moving robot vehicle. A solid-state gyroscope and an accelerometer have been evaluated. Without error compensation, the error in orientation is between 5-15/spl deg//min but can be improved at least by a factor of five if an adequate error model is supplied. Similar error models have been developed for each axis of a solid-state triaxial accelerometer. Linear position estimation with accelerometers and tilt sensors is more susceptible to errors due to the double integration process involved in estimating position. WIth the system described here, the position drift rate is 1-8 cm/s, depending on the frequency of acceleration changes. The results show that with careful and detailed modeling of error sources, low cost inertial sensing systems can provide valuable position information.

91 citations


Proceedings ArticleDOI
12 Oct 1993
TL;DR: The prototype development of VIASAT, a precise mobile survey system for road inventory and associated GIS applications, is discussed and special emphasis is given to sensor integration, testing of the INS/GPS component and data flow from the acquisition process to the workstation environment.
Abstract: The prototype development of VIASAT, a precise mobile survey system for road inventory and associated GIS applications, is discussed. The system integrates inertial, satellite, and charge coupled device (CCD) camera technology to achieve an overall positioning accuracy of 0.3 m (1 ft) or better for all objects within a 50 m corridor on both sides of a highway. Combining the high positioning accuracy of Global Positioning System (GPS) with the precise pointing accuracy of inertial navigation system (INS) a cluster of CCD cameras will be accurately positioned and oriented at any instant of time. Using this information, objects along the highway can be precisely surveyed in three dimensions by processing the digital image information of the CCD camera cluster. The system concepts are discussed. Special emphasis is given to sensor integration, testing of the INS/GPS component and data flow from the acquisition process to the workstation environment.

65 citations


23 Jun 1993
TL;DR: Vector gravimetry using a precise inertial navigation system continually updated with external position data, for example using GPS, is studied with respect to two problems: the attitude accuracy requirement for horizontal gravity component estimation and the state-space estimation of the gravity signal.
Abstract: Vector gravimetry using a precise inertial navigation system continually updated with external position data, for example using GPS, is studied with respect to two prob- lems. The first concerns the attitude accuracy requirement for horizontal gravity component estimation. With covariance analyses in the space and frequency domains it is argued that with stable gyro drift, the short-wavelength gravity vector cau be estimated without the aid of external attitude updates. The second problem concerns the state- space estimation of the gravity signal where considerable approximations must be assumed in the gravity model in order to take advantage of the ensemble error estimation afforded by the Kalman filter technique. Gauss-Markov models for the gravity field am specially designed to reflect the attenuation of the signal at a specific altitude and the omission of the long-wavelength components from the estimation. With medium accuracy INS/GPS systems, the horizontal components of gravity with wavelengths shorter than 250 km should be estimable to an accuracy of 4-6 mgal Q.g while high accuracy systems should yield an improvement to l-2 mgal.

53 citations


Journal ArticleDOI
TL;DR: In this paper, an experiment is described to validate the concept of developing an autonomous integrated spacecraft navigation system using onboard Global Positioning System (GPS) and Inertial Navigation System (INS) measurements.
Abstract: An experiment is described to validate the concept of developing an autonomous integrated spacecraft navigation system using onboard Global Positioning System (GPS) and inertial navigation system (INS) measurements. Previous work by the authors (1988, 1990) has demonstrated the feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e., improvement in position, velocity and attitude information. An important aspect of this research is the automatic real-time reconfiguration capability of the system, which is designed to respond to changes in a spacecraft mission under the control of an expert system. >

52 citations


Patent
27 Aug 1993
TL;DR: In this paper, a weak Hamiltonian finite element method is used for iterative computation of missile guidance acceleration commands for maximizing a missile's terminal velocity while satisfying control authority limits and terminal attitude constraints.
Abstract: A weak Hamiltonian finite element method is used for iterative computation of missile guidance acceleration commands for maximizing a missile's terminal velocity while satisfying control authority limits and terminal attitude constraints. The guidance acceleration commands include commands for controlling the angle of attack (α) and the bank angle (φ) of the missile. The angle of attack (α) and bank angle (φ) are related to a set of virtual control variables selected to avoid convergence problems when the angle of attack is approximately zero. The preferred control variables are β 2 and β 3 such that β 2 =cosφtanα and β 3 =sinφtanα. Iterative convergence is facilitated when control inequality constraint parameters are reached by adjusting iterative solutions between iterations toward satisfaction of the constraints. An approximation to an optimal trajectory is calculated at each guidance cycle during missile flight using data which are revised during each guidance cycle. The revised data include current position data for the target and the current position for the missile. The revised data are taken from the most reliable source currently available, such as on-board target-seeking radar when the target-seeking radar is locked onto the target, uplink data from ground or airborne tracking radar when an uplink is operational, or inertial guidance data. Extracted from the optimal trajectory is an optimal acceleration command for optimally controlling the angle of attack and bank angle of the missile.

47 citations


Journal ArticleDOI
TL;DR: In this paper, an iterative numerical procedure for determining the angles of misalignment of upward-facing pyranometers is presented, where deviations in pitch and roll of the instrument with respect to the aircraft's inertial navigation system (INS) are added to the pitch and rolling angles measured by the INS before the radiometric data are corrected for the attitude of the aircraft.
Abstract: Misalignment of pyranometers used for airborne measurements can lead to serious errors in the determination of downwelling radiation flux. The magnitude of these errors depends strongly on the elevation angle of the sun. This note presents an iterative numerical procedure for determining the angles of misalignment of upward-facing pyranometers. Deviations in pitch and roll of the instrument with respect to the aircraft's inertial navigation system (INS) must be added to the pitch and roll angles measured by the INS before the radiometric data are corrected for the attitude of the aircraft. For successful determination of the two angles of deviation, a calibration flight must be performed in which the aircraft flies in at least three directions at the same altitude under clear skies and above any haze.

Proceedings ArticleDOI
01 Jun 1993
TL;DR: In this paper, an initial assessment of the feasibility of strapdown stabilization for high-resolution imaging seekers was conducted, and a linear state space model and a detailed nonlinear planar simulation were developed of a tactical high resolution platform system including gimbal inertia, inertial sensors, position sensors, friction, mechanical alignment, compliances, and control loop compensation.
Abstract: : In space constrained applications such as tactical missiles, locating the inertial sensors off the platform simplifies packaging and may allow existing missile autopilot gyros to be used for platform stabilization. In strapdown stabilization, inertial sensors are fixed to the base of the inertial platform rather than directly on the platform itself. Gimbal position sensor information is combined with body-fixed inertial rate sensor information to estimate the inertial rate of the platform. This estimate of platform rate is a key factor that determines the stabilization performance of the system. An initial assessment of the feasibility of strapdown stabilization for high-resolution imaging seekers was conducted. A linear state space model and a detailed nonlinear planar simulation were developed of a tactical high-resolution platform system. The simulation includes gimbal inertia, inertial sensors, position sensors, friction, mechanical alignment, compliances, and control loop compensation. The simulation was used to predict the platform stabilization performance. In addition, effects of stabilization performance on target signal strength for an imaging seeker were estimated.

Patent
Avery A. Morgan1
28 Dec 1993
TL;DR: In this paper, a calibration device for establishing a 3D reference frame for an inertial sensor system is presented, where a secondary mounting surface is used to provide a measurement of the reference line required for inertial system installation alignment.
Abstract: A calibration device for establishing a 3-D reference frame for an inertial sensor system. A secondary mounting surface on the calibration device is used to provide a measurement of the reference line required for inertial system installation alignment. This device provides a means for establishing a highly accurate alignment of inertial system sensors relative to the output coordinates, called the "mounting frame", without a requirement for optics or a manual transfer of data. By rotating the inertial sensor system through use of a rate table into planes which are substantially perpendicular to each other, the mounting frame for the sensor system can be established.

Patent
23 Mar 1993
TL;DR: In this paper, a method and apparatus for minimizing the effect of lateral velocity transients upon an aircraft inertial instrument calibration process of the type in which cross-track velocity is measured and utilized to correct for the east component of gyro bias error is presented.
Abstract: A method and apparatus for minimizing the effect of lateral velocity transients upon an aircraft inertial instrument calibration process of the type in which cross-track velocity is measured and utilized to correct for the east component of gyro bias error. A "cross-track position" value is obtained by integration of the cross-track velocity. A Kalman filter calculates a plurality of gain values corresponding to measurements of crab angle, lever arm, north and east velocity, heading angle and rate of change of heading angle and those gain values are applied to the cross-track position value to obtain error values for each of such parameters. The calculated error values are then employed as corrections to, or calibrations of, the inertial instrument outputs.

Journal ArticleDOI
TL;DR: In this article, an attitude estimation system for an autonomous ground vehicle based on the cooperation of low-cost inertial sensors is presented. But the attitude is obtained using two different methods: accelerometric measurements of gravity and gyrometers.

Proceedings ArticleDOI
25 May 1993
TL;DR: In this article, a rapid and robust transfer alignment system for advanced kinetic energy missiles (ADKEMs) is presented, which aligns the salve (missile) inertial measurement unit (IMU) with the master (ground launch vehicle) IMU with high accuracy.
Abstract: The design of a rapid and robust transfer alignment system for advanced kinetic energy missiles (ADKEMs) is presented in this paper. Owing to the high acceleration level and reduced engagement time of the ADKEM, the transfer alignment which aligns the salve (missile) inertial measurement unit (IMU) with the master (ground launch vehicle) IMU must be accomplished in a short time with high accuracy. The scope of transfer alignment system design presented in this paper encompasses the assessment of inertial guidance accuracy, transfer alignment formulation, maneuver scenario design, and sensitivity analysis.

Proceedings ArticleDOI
25 May 1993
TL;DR: In this paper, a transfer alignment filter design for the first phase of flight of the advanced kinetic energy missile (ADKEM) is presented, where the estimation of the initial misalignment with transfer alignment technique has to act against various error sources involved in the velocity and/or attitude differences.
Abstract: The first phase of flight of the advanced kinetic energy missile (ADKEM) is inertial guidance whose performance is affected particularly by the navigation accuracy. Owing to the rapid acceleration during the missile launch phase, the effect of misalignment is magnified, significantly contributing to the miss distance. A high precision transfer alignment is thus required to reduce the initial navigation error. The estimation of the initial misalignment with transfer alignment technique has to act against various error sources involved in the velocity and/or attitude differences. On the other hand, due to limitations in complexity and computation, only linear models of first order approximation are used in transfer alignment filter design. Therefore, it is indispensable to evaluate a transfer alignment filter design not only with a linear model-based covariance analysis but also with a nonlinear Monte Carlo simulation. This paper presents in detail such a transfer alignment design and evaluation environment.

Proceedings ArticleDOI
F. Parthiot1, J.-F. Denis
18 Oct 1993
TL;DR: IFREMER-French Institute for Sea Exploration and Exploitation-is currently operating manned submersibles, towed sonars and ROVs down to 6000 m, but are replacing their positioning system resting on long base line (LBL) by a new positioning system called POSIDONIA which is under development at the company group Thomson Sintra ASM and Mors Environment.
Abstract: IFREMER-French Institute for Sea Exploration and Exploitation-is currently operating manned submersibles, towed sonars and ROVs down to 6000 m. IFREMER are replacing their positioning system resting on long base line (LBL) by a new positioning system called POSIDONIA which is under development at the company group Thomson Sintra ASM and Mors Environment. This replacement aims to reduce operators time and overall costs by improving accuracy, reliability and flexibility in comparison with the existing systems. To achieve these characteristics, the POSIDONIA positioning system is of a new breed which combines a short base line (SBL) and an ultra short base line (USBL). It has been designed to operate in noisy environments and get rid of multipath effects, to compensate for the lack of precise radio navigation, and generally to comply with the various task requirements. Therefore, not only has the acoustic signal processing been optimized, but also the beacon functionalities to give full versatility. In addition, the need of a high precision vertical and heading reference unit (VHRU), to make up for the vessel attitude, has induced the definition of a hybrid VHRU based on both GPS and inertial sensors. >

Proceedings ArticleDOI
12 Oct 1993
TL;DR: In this article, the problem of extracting accurate 3D coordinates from a cluster of CCD (charged-coupled device) cameras is studied, and the factors affecting the accuracy of the derived object coordinates are analyzed as a function of the GPS/INS accuracy, pixel size, camera geometry, calibration accuracy, and vehicle speed.
Abstract: The problem of extracting accurate three dimensional coordinates from a cluster of CCD (charged-coupled device) is studied. The cameras comprise the imaging component of the VISAT system. This system integrates an inertial navigation system (INS), satellite receivers of the Global Positioning System (GPS), and a cluster of CCD cameras. A brief introduction to the VISAT system is given. System calibration and the transformations required to convert image coordinates into three-dimensional coordinates are discussed. The factors affecting the accuracy of the derived object coordinates are analyzed as a function of the GPS/INS accuracy, pixel size, camera geometry, calibration accuracy, and vehicle speed.

Patent
05 Mar 1993
TL;DR: A vertical position and gravity map aided INS is self contained (no external signals required); covert (no signals emanated); unrestricted in operating area; able to operate in quiet or active gravity regions; and able to be configured with proven instruments as discussed by the authors.
Abstract: A vertical position and gravity map aided INS is self contained (no external signals required); covert (no signals emanated); unrestricted in operating area; able to operate in quiet or active gravity regions; and able to be configured with proven instruments.

Patent
15 Dec 1993
TL;DR: A gyroscopic system and method for translating parallel and non-parallel lines between a reference line and a device to be aligned with respect to the reference line is described in this paper.
Abstract: A gyroscopic system and method is provided for translating parallel and non-parallel lines between a reference line and a device to be aligned with respect to the reference line A first inertial sensor (60) is provided that is configured to be substantially stationary This inertial sensor is boresighted with respect to the reference line and includes at least two gyroscopes and a mirror (61) having first and second nonplanar surfaces A second, portable inertial sensor (62) is provided that includes a gimbal, a gimbal drive system, an electronic energy beam generator, a collimator, and at least two gyroscopes One or more of the electronic beam generator, collimator, and gyroscopes can be optionally mounted on a platform that is mounted on the gimbal and adapted to move in accordance with signals from the gimbal drive system A control circuit (68) is provided that is operable to measure output signals generated by the first and second inertial sensor gyroscopes and to determine relative orientations of the inertial sensors

Journal ArticleDOI
TL;DR: In this article, an Inertial Navigation Systenl (INS) is described for robotics applications and error models for the inertial sensors are generated and included in an Extended Kalman Filter (EKF) for processing the data.


Journal ArticleDOI
TL;DR: In this article, the conceptual origins of the laser gyroscope are discussed, which are remote from the "high-tech" world of the modern world of inertial navigation.
Abstract: Inertial navigation systems are central to modern navigation. They permit wholly self-contained navigation of remarkable accuracy. They are now standard in long-range civil aircraft and most modern military aircraft, as well as in ballistic missiles, cruise missiles, space boosters, and submarines. They are increasingly to be found in shorter-range tactical missiles, land vehicles such as tanks or selfpropelled artillery, and some surveying applications. At the heart of inertial navigation are the inertial sensors themselves: gyroscopes, which sense rotation, and accelerometers, which measure acceleration. During the last twenty years, the former have undergone what those involved see as a technological revolution. Since the beginnings of inertial navigation in the 1930s, the gyroscopes used had remained analogs-however sophisticated--of the child's spinning toy, reliant in their detection of rotation on the mechanics of a rapidly revolving rotor. But they have now been challenged by inertial sensors in which the detection of rotation is achieved by optical, rather than mechanical, means: laser gyroscopes. All the major corporate suppliers of inertial technology, bar one, are heavily committed to laser gyroscope technology. A basic shift has thus taken place in this key modern technology. This article begins with the conceptual origins of the laser gyroscope, which are remote from the "high-tech" world of the modern

Proceedings ArticleDOI
09 Aug 1993
TL;DR: In this article, a rapid and robust transfer alignment system for advanced kinetic energy missiles (ADKEMs) is presented, which aligns the salve (missile) inertial measurement unit (IMU) with the master (ground launch vehicle) IMU with high accuracy.
Abstract: The design of a rapid and robust transfer alignment system for advanced kinetic energy missiles (ADKEMs) is presented in this paper. Owing to the high acceleration level and the reduced engagement time of ADKEMs, the transfer alignment which aligns the salve (missile) inertial measurement unit (IMU) with the master (ground launch vehicle) IMU must be accomplished in a short time with high accuracy. The scope of transfer alignment system design presented in this paper includes the assessment of inertial guidance accuracy, transfer alignment formulation, simulation environment development, maneuver scenario evaluation, system error analysis, tradeoff study, and filter robustness and sensitivity analysis.

Journal ArticleDOI
M.L. Sheffels1
TL;DR: In this article, the authors describe a fault-tolerant air data/inertial reference unit (ADIRU) designed to be the inertial and air data reference for ARINC 651 Integrated Modular Avionics (IMA) distributed architecture.
Abstract: The fault-tolerant air data/inertial reference unit (ADIRU) described is a key part of a fault-tolerant air data/inertial reference system (ADIRS) designed to be the inertial and air data reference for the ARINC 651 Integrated Modular Avionics (IMA) distributed architecture. The ADIRU has been designed to meet the commercial aviation market demands for low life cycle cost and high integrity fault detection, fault isolation, and redundancy management. The ADIRU's internal redundant resources provide quad channel redundancy that is one level higher than conventional triple redundant systems, allowing it to provide deferred maintenance capability. Robust partitioning, simple serial internal interfaces, and simple voting planes ensure that internal redundant components are properly utilized to provide high integrity system outputs. This relieves systems using it from having to perform their own redundancy management of the air data and inertial outputs from multiple sources required by conventional systems. >

Proceedings ArticleDOI
18 Oct 1993
TL;DR: From this study, the PA was selected as the most adequate system for ROV DP when the tasks are to be performed only in a limited neighborhood of some underwater structure.
Abstract: This paper presents a comparative study of position measurement systems for dynamic positioning (DP) of remotely operated underwater vehicles (ROV's) based on: speed logs, inertial navigation, long or short baseline acoustic systems, taut-wire and passive arm (PA). From this study, the PA was selected as the most adequate system for ROV DP when the tasks are to be performed only in a limited neighborhood of some underwater structure. A prototype passive arm based DP system is currently being designed. Simulations and preliminary experimental results have indicated that the proposed system can achieve satisfactory performance. >

Journal ArticleDOI
TL;DR: In this article, a method based upon symmetric filters can, in postprocessing, correct for inertial navigation errors in position, velocity, and horizontal winds, and data are compared with a high-precision, ground-based laser system operated by the National Aeronautics and Space Administration.
Abstract: The National Oceanic and Atmospheric Administration (NOAA) maintains two Orion WP-3D aircraft based in Miami, Florida, and used for atmospheric and oceanographic research in support of NOAA projects and missions. Good navigation is essential to such research and we show that Loran C combined with inertial navigation results in substantial improvements. In particular, a method based upon symmetric filters can, in postprocessing, correct for inertial navigation errors in position, velocity, and horizontal winds. To test this method, data are compared with a high-precision, ground-based laser system operated by the National Aeronautics and Space Administration. Results show that errors in position and ground speed can be reduced to 0.2 km and 0.1–0.3 m s−1, respectively, in regions of good Loran C coverage. In addition, errors in heading are analyzed, and a method for partially correcting errors, based solely upon Loran C data, is presented. Results show that wind calculations are adversely affected...

Patent
Tae-Sik Kim1
06 Jan 1993
TL;DR: In this paper, a mobile robot with a navigation system using inertia includes a cylindrical reflecting plate disposed on the periphery of a compass for indicating a fixed direction regardless of the flow of the robot.
Abstract: A mobile robot with a navigation system using inertia includes a cylindrical reflecting plate disposed on the periphery of a compass for indicating a fixed direction regardless of the flow of the robot. A microcomputer determines the difference between the waveforms sensed by an optical sensor displaced on the compass and compensates precisely the moving path of the robot. The robot can be returned along the shortest return distance obtained in a vector, thereby greatly increasing the efficiency of the robot.

Journal ArticleDOI
TL;DR: An error isolation technique for detecting the misspecified parameter (or set of parameters) is described and is especially designed for use on state-space models of large-scale systems.
Abstract: One of the steps in creating a mathematical model of a system is to test the model after it has been fully specified, to see whether it is performing adequately. Often, it is found that the model is not performing acceptably (e.g. the model is not giving accurate predictions of the performance of the actual system). The same lack of fidelity can also be observed in established models that had been performing well, indicating a change in the actual system. At this point, it is necessary to diagnose where the problem in the model lies; a process called error isolation. An error isolation technique for detecting the misspecified parameter (or set of parameters) is described. This technique is especially designed for use on state-space models of large-scale systems. The authors report on an example of an application of the methodology to localizing errors in the model of an inertial navigation system. >