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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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Proceedings ArticleDOI
03 Dec 2010
TL;DR: The project presented in this paper (the Wireless Autonomous Robot Platform with Inertial Navigation and Guidance, WARP-WING) is intended to create a complete and easily customizable general purpose control system for miniature robotic systems, in particular micro air vehicles.
Abstract: The electronics packages for many robot control systems have very similar requirements, yet are often redesigned for each custom application. To reduce wasted time and effort, the project presented in this paper (the Wireless Autonomous Robot Platform with Inertial Navigation and Guidance, WARP-WING) is intended to create a complete and easily customizable general purpose control system for miniature robotic systems, in particular micro air vehicles. In its default configuration, hardware designs, firmware, and software are all available to deliver an out-of-the-box robot control solution comprising 6 degree-of-freedom inertial sensors, a microprocessor, and wireless communication, along with general purpose input/output pins, serial ports, and control outputs for interfacing to additional sensors and actuators. The entire project is open source and a process is in place to enable modification of any component, allowing for easy adaptation to any need. WARPWING is already in use in a number of labs, with each research group contributing its expertise to enhance the platform and make such modifications available to others as well.

57 citations

Journal ArticleDOI
30 Jan 2015-Sensors
TL;DR: The results have shown that compared with other rotating schemes and the static state, the estimated accuracy of the eight-position scheme rotating about axes x and y was the best, and the position error was significantly reduced with this new rotating scheme.
Abstract: The errors of inertial sensors affect the navigation accuracy of the strapdown inertial navigation system (SINS) and are accumulated over time in nature. In order to continuously maintain the high navigation accuracy of vehicles for a long time period, an initial alignment and self-calibration is necessary after the SINS starts. Additionally, the observability analysis is one of the key techniques during the initial alignment and self-calibration process. For marine systems, the observability of inertial sensor errors is extremely low, as their motion states are always slow. Therefore, studying the rotating SINS is urgent. Since traditional analysis methods have their limitations, the global observation analysis method was used in this paper. On the basis of this method, the relationship between the observability and the kinestate of the rotating SINS has been established. After the discussion about the factors that affect the observability in detail, the design principle of the initial alignment and self-calibration rotating scheme, which is appropriate for marine systems, id proposed. With the proposed principle, a novel initial alignment and self-calibration method, named the eight-position rotating scheme, is designed. Simulations and experiments are carried out to verify its performance. The results have shown that compared with other rotating schemes and the static state, the estimated accuracy of the eight-position scheme rotating about axes x and y was the best, and the position error was significantly reduced with this new rotating scheme. The feasibility and effectiveness of the proposed design principle and the rotating scheme were verified.

56 citations

Journal ArticleDOI
TL;DR: An improved method to reduce the error accumulation by automatically resetting it in the INS-based systems is proposed and can significantly reduce the INS errors and successfully recover the trajectories of the moving vehicles with an adequate accuracy.
Abstract: Error accumulation is one of the critical factors that limit the effective use of low-cost inertial navigation systems (INS) in tracking applications, especially during prolonged time intervals. This paper proposes an improved method to reduce the error accumulation by automatically resetting it in the INS-based systems. This method does not require any additional external sensors and reference systems and therefore offers various ad-vantages. Necessary calibration has been done to accurately evaluate the parameters used within the method. The perform-ance of this proposed resetting method has been experimentally evaluated by tracking the moving vehicles both in indoor and outdoor environments. Results of the experiments demonstrate that the proposed method can significantly reduce the INS errors and successfully recover the trajectories of the moving vehicles with an adequate accuracy.

56 citations

Journal ArticleDOI
TL;DR: In this paper, an extended Kalman filter (EKF)-based data fusion algorithm which utilizes the complementary noise profiles of these two types of sensors to extend their limits is presented, which solves many of the convergence problems encountered in the implementation of EKF due to the choice of covariance matrices.
Abstract: Attitude estimation systems often use two or more different sensors to increase reliability and accuracy. Although gyroscopes do not have problems like limited range, interference, and line of sight obscuration, they suffer from slow drift. On the other hand, inclinometers are drift-free but they are sensitive to transverse accelerations and have slow dynamics. This paper presents an extended Kalman filter (EKF)-based data fusion algorithm which utilizes the complementary noise profiles of these two types of sensors to extend their limits. To avoid complexities of dynamic modelling of the platform and its interaction with the environment, gyro modelling will be used to implement indirect (error state) form of the Kalman filter. The great advantage of this approach is its independence from the structure of the platform and its applicability to any system with a similar set of sensors. Separate bias formulation of the Kalman filter will be used to reduce the computational complexity of the algorithm. In addition, a systematic approach based on wavelet decomposition will be utilized to estimate noise covariances used in the Kalman filter formulation. This approach solves many of the convergence problems encountered in the implementation of EKF due to the choice of covariance matrices. Experimental implementation of the estimator shows the excellent performance of the filter.

56 citations

Journal ArticleDOI
Paul D. Groves1
TL;DR: In this paper, different design options have been assessed, supported by simulation work, to determine which transfer alignment technique performs best, and the dependence of transfer alignment performance on environmental factors, such as manoeuvres, alignment duration, lever arm and inertial sensor quality has also been studied.
Abstract: Transfer alignment is the process of initialising and calibrating a weapon INS using data from the host aircraft's navigation system. To determine which transfer alignment technique performs best, different design options have been assessed, supported by simulation work. The dependence of transfer alignment performance on environmental factors, such as manoeuvres, alignment duration, lever arm and inertial sensor quality has also been studied. ‘Rapid’ alignment, using attitude as well as velocity measurements was found to perform better than ‘conventional’ techniques using only velocity. Innovative developments include the estimation of additional acceleration and gyro states and estimation of force dependent relative orientation, which has enabled robust alignment using wing rock manoeuvres, which do not require the pilot to change trajectory. Transfer alignment has been verified in real-time by flight trials on a Tornado aircraft. In addition, techniques have been developed to prevent transients in the aircraft integrated navigation solution following GPS re-acquisition after an outage of several minutes from disrupting the transfer alignment process.

56 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