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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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Patent
22 Feb 1991
TL;DR: In this paper, a method and system for avoiding ground collision through pilot warning messages is implemented in aircraft having a plurality of sensors, onboard inertial navigation units, and altimeters for measuring aircraft performance or flight characteristics.
Abstract: A method and system for avoiding ground collision through pilot warning messages which is implemented in aircraft having a plurality of sensors, onboard inertial navigation units, and altimeters for measuring aircraft performance or flight characteristics. Data is collected through a digital interface unit from data buses connected to these sources, transferred to one or more storage locations and a data validation unit for determining the validity of current altitude data. A series of data processing elements use the aircraft data to extrapolate an aircraft altitude path forward during a predetermined period of time as a function of the aircraft flight data. The extrapolated altitutde allows extrapolation of an aircraft flight path as a function of predicted terrain variations and changes in altitude in response to recovery from various aircraft maneuvers such as rolling, banking, diving, climbing, or accelerating. The extrapolated altitude, or changes in altitude, is compared to one or more predetermined safety limits, and one or more warning messages are provided if the extrapolated altitude is lower than an appropriate limit.

50 citations

Proceedings ArticleDOI
04 Nov 2019
TL;DR: This is the first paper which combines sophisticated deep learning techniques with state-of-the-art filtering methods for pure inertial navigation on wheeled vehicles and as such opens up for novel data-driven inertial Navigation techniques.
Abstract: This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses recurrent deep neural networks to dynamically detect a variety of situations of interest, such as zero velocity or no lateral slip; and 2) a state-of-the-art Kalman filter which incorporates this knowledge as pseudo-measurements for localization. Evaluations on a publicly available car dataset demonstrates that the proposed scheme may achieve a final distance error of 20 m for a 21 km long trajectory of a vehicle driving for over an hour, equipped with an IMU of moderate precision (the gyro drift rate is 10 deg/h). To our knowledge, this is the first paper which combines sophisticated deep learning techniques with state-of the-art filtering methods for pure inertial navigation on wheeled vehicles and as such opens up for novel data-driven inertial navigation techniques. Moreover, albeit taylored for IMU-only based localization, our method may be used as a component for self-localization of wheeled robots equipped with a more complete sensor suite.

50 citations

Journal ArticleDOI
TL;DR: In this paper, the authors proposed a novel navigation method for underwater vehicles based on a single seafloor station (SS), with which the vehicles can estimate their positions and orientations with respect to the SS without the need of expensive inertial navigation system or time-consuming calibration.
Abstract: In this paper, we propose a novel navigation method for underwater vehicles based on a single seafloor station (SS), with which the vehicles can estimate their positions and orientations with respect to the SS without the need of expensive inertial navigation system or time-consuming calibration. This method is suitable for near-seafloor applications requiring real-time and accurate positioning, such as seafloor imaging and sampling. The method is also suitable for autonomous underwater vehicles (AUVs) since no other external aid is necessary other than SS. The key idea is to utilize mutual acoustical measurements between the vehicle and the SS. Simply explained: 1) the vehicle starts by interrogating the SS acoustically and measures the range between the two units as well as the bearing of the SS with respect to the vehicle in the vehicle reference frame; and then, 2) the SS computes the bearing of the vehicle with respect to the SS and transmits this information back to the vehicle using a similar acoustical device. By combining this information and inputting it into a nonlinear filter structure that includes measurements of the vehicle's ground velocity and yaw angular velocity, the vehicle computes its position and heading estimates. A pair of acoustical devices named acoustical localization and communication (ALOC) devices that can communicate and calculate their relative positions have been built. Sea trials were carried out in October 2011 using the AUV Tri-Dog1 (TD) and a trial SS at Kagoshima Bay in Japan. The AUV successfully navigated around the SS based on the measurements of the ALOC device mounted on both the AUV and the SS. The performance of the method was verified through simulations based on the experimental results.

50 citations

Proceedings Article
01 Feb 1991

49 citations

Proceedings ArticleDOI
09 Jul 1999
TL;DR: The concept of personal inertial navigation systems aided by zero velocity updating of the accelerometers with each footfall has been examined and shown to be sufficient to determine the location of an individual soldier accurately within a large building complex after hours of operation.
Abstract: Individual soldier geolocation in situations such as urban warfare where loss of Global Positioning System (GPS) track can impact mission success has become a critical problem. Concepts such as RF 'time difference of arrival' and 'dead reckoning' techniques have not demonstrated their ability to support navigation reliably inside buildings on their own. Inertial navigation is the only technology that operates independence of external assets. The advent of micromechanical inertial sensor technology has resulting low-cost, very small, low-power navigation system capable of fitting in a soldier's boot. A miniature navigator consisting of three micromechanical gyroscope and accelerometer packages, including supporting application- specific integrated circuit chips, and capable of operating in support of such a mission has been developed. However, because of accelerometer and gyroscope drift, navigating inertially over long time periods using even the most precise and most expensive inertial senor available today remains close to impossible. Inertial augmentation techniques are therefore required, and the concept of personal inertial navigation systems aided by zero velocity updating of the accelerometers with each footfall has been examined and shown to be sufficient to determine the location of an individual soldier accurately within a large building complex after hours of operation. In addition to the accelerometer, updates of the gyro via zero attitude rate techniques is an additional means to further enhance the position accuracy, as well as to provide an attitude reference in support of soldier carried targeting sensors.

49 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