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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: The Jet Propulsion Laboratory Autonomous Helicopter Testbed, an aerial robot based upon a radio‐controlled model helicopter, provides a small low‐cost platform for developing and field testing new technologies needed for future space missions.
Abstract: The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio-controlled model helicopter, provides a small low-cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image-based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image-based motion estimates to enable pin-point landing. © 2006 Wiley Periodicals, Inc.

51 citations

Proceedings ArticleDOI
01 Jan 2014
TL;DR: A novel method to improve the robustness of real-time 3D surface reconstruction by incorporating inertial sensor data when determining inter-frame alignment and enabling inertial navigation allows us to reconstruct scenes more quickly and recover from situations where reconstructing without IMU data produces very poor results.
Abstract: We present a novel method to improve the robustness of real-time 3D surface reconstruction by incorporating inertial sensor data when determining inter-frame alignment. With commodity inertial sensors, we can significantly reduce the number of iterative closest point (ICP) iterations required per frame. Our system is also able to determine when ICP tracking becomes unreliable and use inertial navigation to correctly recover tracking, even after significant time has elapsed. This enables less experienced users to more quickly acquire 3D scans. We apply our framework to several different surface reconstruction tasks and demonstrate that enabling inertial navigation allows us to reconstruct scenes more quickly and recover from situations where reconstructing without IMU data produces very poor results.

51 citations

Journal ArticleDOI
TL;DR: The research aircraft Dormer (DO) 128-6, call-sign D-IBUF, operated by the Institute of Flight Guidance and Control of the Technical University of Braunschweig and its scientific equipment is presented in this paper.
Abstract: The research aircraft Dormer (DO) 128-6, call-sign D-IBUF, operated by the Institute of Flight Guidance and Control of the Technical University of Braunschweig and its scientific equipment is presented The aircraft's operational capabilities and the quality of measurements of meteorological parameters and trace constituents in the lower troposphere are discussed Besides avionic instrumentation for VFR-flights (Visual Flight Rules) and IFR-flights (Instrument Flight Rules) at low altitudes over complex terrain, there are redundant sensors for the measurement of wind, temperature and humidity Together with INS- (Inertial Navigation System) and GPS- (Global Positioning System) navigation a sample frequency of 25 Hz (soon 100 Hz) is realised Using a mean ground speed of 65 m s -1 , the resolution of the measurements is less than 3 m Since 1998, the Institute of Meteorology and Climate Research at the Forschungszentrum Karlsruhe has enlarged the aircraft's research capabilities by the integration of a sensor package for the measurement of CO, NO, NO 2 CO 2 and O 3 with frequencies between 1 Hz and 20 Hz, and detection limits of 1 ppb The equipment does not only allow to detect mean quantities, but also, using the eddy-correlation technique, to calculate small-scale turbulent trace gas fluxes, eg caused by secondary circulation systems, mountain venting, convective cells and other mass transport processes between the boundary layer and the free troposphere (handover) Such data are of great importance to many aspects of air pollution dispersion and air pollution modelling Process studies of the small-scale vertical transport of heat, moisture and trace gases and their parametrisation are some of these aspects The function of the sensor package is shown by calibration results, intercomparison of the measurements of redundant sensors and spectral analysis of the wind components Examples of the detection of secondary circulation systems, of the micro structure of trace gases in urban plumes and the calculation of ozone flux profiles are given

51 citations

Proceedings ArticleDOI
10 Jul 2018
TL;DR: In this article, a probabilistic approach for orientation and use-case free inertial odometry is presented based on double-integrating rotated accelerations, which is able to track the phone position, velocity, and pose in real-time and in a computationally lightweight fashion by solving the inference with an extended Kalman filter.
Abstract: Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak information in the sensor samples, smartphones are capable of pure inertial navigation. We present a probabilistic approach for orientation and use-case free inertial odometry, which is based on double-integrating rotated accelerations. The strength of the model is in learning additive and multiplicative IMU biases online. We are able to track the phone position, velocity, and pose in realtime and in a computationally lightweight fashion by solving the inference with an extended Kalman filter. The information fusion is completed with zero-velocity updates (if the phone remains stationary), altitude correction from barometric pressure readings (if available), and pseudo-updates constraining the momentary speed. We demonstrate our approach using an iPad and iPhone in several indoor dead-reckoning applications and in a measurement tool setup.

51 citations

Proceedings ArticleDOI
TL;DR: In this paper, the authors used an atomic accelerometer onboard an aircraft to achieve one-shot sensitivities of 2.3 × 10−4 g over a range of ∼ 0.1 g.
Abstract: Inertial sensors based on cold atom interferometry exhibit many interesting features for applications related to inertial navigation, particularly in terms of sensitivity and long-term stability. However, at present the typical atom interferometer is still very much an experiment—consisting of a bulky, static apparatus with a limited dynamic range and high sensitivity to environmental effects. To be compliant with mobile applications further development is needed. In this work, we present a compact and mobile experiment, which we recently used to achieve the first inertial measurements with an atomic accelerometer onboard an aircraft. By integrating classical inertial sensors into our apparatus, we are able to operate the atomic sensor well beyond its standard operating range, corresponding to half of an interference fringe. We report atom-based acceleration measurements along both the horizontal and vertical axes of the aircraft with one-shot sensitivities of 2.3 × 10−4 g over a range of ∼ 0.1 g. The same technology can be used to develop cold-atom gyroscopes, which could surpass the best optical gyroscopes in terms of long-term sensitivity. Our apparatus was also designed to study multi-axis atom interferometry with the goal of realizing a full inertial measurement unit comprised of the three axes of acceleration and rotation. Finally, we present a compact and tunable laser system, which constitutes an essential part of any cold-atom-based sensor. The architecture of the laser is based on phase modulating a single fiber-optic laser diode, and can be tuned over a range of 1 GHz in less than 200 μs.

51 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