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Inertial navigation system

About: Inertial navigation system is a research topic. Over the lifetime, 14582 publications have been published within this topic receiving 190618 citations. The topic is also known as: intertial guidance system & inertial reference platform.


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Journal ArticleDOI
TL;DR: This paper describes a parity approach to measurement error detection when redundant measurements are available, and the general form of the detector operating characteristic (DOC) is developed.
Abstract: The advantages of a navigation system that can monitor its own integrity are obvious. Integrity monitoring requires that the navigation system detect faulty measurement sources before they corrupt the outputs. This paper describes a parity approach to measurement error detection when redundant measurements are available. The general form of the detector operating characteristic (DOC) is developed. This equation relates the probability of missed detection to the probability of false alarm, the measurement observation matrix, and the ratio of the detectable bias shift to the standard deviation of the measurement noise. Two applications are presented: skewed axis strapdown inertial navigation systems, where DOCs are used to compare the integrity monitoring capabilities of various redundant sensor strapdown system configurations; and GPS navigation sets, where DOCs are used to discuss GPS integrity monitoring for meeting non-precision approach requirements. A fault identification algorithm is also presented.

322 citations

Journal ArticleDOI
TL;DR: The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems.
Abstract: This paper details a unique method for estimating key vehicle states-body sideslip angle, tire sideslip angle, and vehicle attitude-using Global Positioning System (GPS) measurements in conjunction with other sensors. A method is presented for integrating Inertial Navigation System sensors with GPS measurements to provide higher update rate estimates of the vehicle states. The influence of road side-slope and vehicle roll on estimating vehicle sideslip is investigated. A method using one GPS antenna that estimates accelerometer errors occurring from vehicle roll and sensor drift is first developed. A second method is then presented utilizing a two-antenna GPS system to provide direct measurements of vehicle roll and heading, resulting in improved sideslip estimation. Additionally, it is shown that the tire sideslip estimates can be used to estimate the tire cornering stiffnesses. The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems

317 citations

Journal ArticleDOI
TL;DR: An operational orthorectification solution in support of the combined geometric and radiometric processing of currently available imaging spectrometry data is presented and the depicted geo-atmospheric workflow is proposed as a standard processing approach for available and future imaging spectromaetry data.
Abstract: An operational orthorectification solution in support of the combined geometric and radiometric processing of currently available imaging spectrometry data is presented. The described parametric geocoding procedure (PARGE) strictly considers the aircraft and terrain geometry parameters and uses a forward transformation algorithm to create orthorectified imaging spectrometry cubes. The implementation principles, the auxiliary data calibration strategies, and the workflow of the currently applied processor are discussed. The major error sources of the approach are identified, and possibilities are shown how to make the most out of the available auxiliary data Inertial Navigation System/Global Positioning System (INS/GPS) parameters. Results on HyMap and AVIRIS imaging spectrometry data show an absolute accuracy in the range of 1-3 pixels for this kind of imagery. The combination of PARGE with an atmospheric correction procedure is shown in part 2 to this paper. The depicted geo-atmospheric workflow is propo...

284 citations

Journal ArticleDOI
26 Jan 2011-Sensors
TL;DR: This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts and gives useful recipes for their actual implementation.
Abstract: User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation.

282 citations

Journal ArticleDOI
TL;DR: The basic performance of BDS-3 is described and some methods to improve the positioning, navigation and timing (PNT) service are suggested and the comprehensive and resilient PNT infrastructures are proposed for the future seamless PNT services.
Abstract: The core performance elements of global navigation satellite system include availability, continuity, integrity and accuracy, all of which are particularly important for the developing BeiDou global navigation satellite system (BDS-3). This paper describes the basic performance of BDS-3 and suggests some methods to improve the positioning, navigation and timing (PNT) service. The precision of the BDS-3 post-processing orbit can reach centimeter level, the average satellite clock offset uncertainty of 18 medium circular orbit satellites is 1.55 ns and the average signal-in-space ranging error is approximately 0.474 m. The future possible improvements for the BeiDou navigation system are also discussed. It is suggested to increase the orbital inclination of the inclined geostationary orbit (IGSO) satellites to improve the PNT service in the Arctic region. The IGSO satellite can perform part of the geostationary orbit (GEO) satellite’s functions to solve the southern occlusion problem of the GEO satellite service in the northern hemisphere (namely the “south wall effect”). The space-borne inertial navigation system could be used to realize continuous orbit determination during satellite maneuver. In addition, high-accuracy space-borne hydrogen clock or cesium clock can be used to maintain the time system in the autonomous navigation mode, and stability of spatial datum. Furthermore, the ionospheric delay correction model of BDS-3 for all signals should be unified to avoid user confusion and improve positioning accuracy. Finally, to overcome the vulnerability of satellite navigation system, the comprehensive and resilient PNT infrastructures are proposed for the future seamless PNT services.

279 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023309
2022657
2021491
2020889
20191,003
20181,013