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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: A cold-atom interferometers gyroscope which overcomes accuracy and dynamic range limitations of previous atom interferometer gyroscopes and can be used for precise determination of latitude, azimuth, and Earth's rotation rate.
Abstract: We demonstrate a cold-atom interferometer gyroscope which overcomes accuracy and dynamic range limitations of previous atom interferometer gyroscopes. We show how the instrument can be used for precise determination of latitude, azimuth (true north), and Earth's rotation rate. Spurious noise terms related to multiple-path interferences are suppressed by employing a novel time-skewed pulse sequence. Extended versions of this instrument appear capable of meeting the stringent requirements for inertial navigation, geodetic applications of Earth's rotation rate determination, and tests of general relativity.

180 citations

Journal ArticleDOI
TL;DR: Based on the analysis of the kinematics of the skid-steered mobile robot, the underlying geometric and kinematic relationships between the wheel slips and locations of the instantaneous rotation centers are revealed.
Abstract: Skid-steered mobile robots are widely used because of their simple mechanism and high reliability. Understanding the kinematics and dynamics of such a robotic platform is, however, challenging due to the complex wheel/ground interactions and kinematic constraints. In this paper, we develop a kinematic modeling scheme to analyze the skid-steered mobile robot. Based on the analysis of the kinematics of the skid-steered mobile robot, we reveal the underlying geometric and kinematic relationships between the wheel slips and locations of the instantaneous rotation centers. As an application example, we also present how to utilize the modeling and analysis for robot positioning and wheel slip estimation using only low-cost strapdown inertial measurement units. The robot positioning and wheel slip-estimation scheme is based on an extended Kalman filter (EKF) design that incorporates the kinematic constraints for accuracy enhancement. The performance of the EKF-based positioning and wheel slip-estimation scheme are also presented. The estimation methodology is tested and validated experimentally on a robotic test bed.

179 citations

Journal ArticleDOI
01 Feb 1999
TL;DR: The theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials are described.
Abstract: Describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials. The particular contributions of the theoretical work are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from inertial sensors, odometry, and a bearing only laser. Results are presented using data obtained during the field trials.

177 citations

Journal ArticleDOI
TL;DR: The implementation achieves 100-Hz vehicle state estimates with position accuracies at the centimeter level through the use of differential carrier phase GPS techniques.
Abstract: This article describes the implementation and experimental results of a real-time carrier phase differential Global Positioning System (GPS) aided inertial navigation system (INS). The implementation is the result of a study to analyze the capabilities of such a system relative to the requirements of advanced vehicle control and safety systems for intelligent transportation systems. Such navigation systems have many application possibilities (e,g., aviation and precision flight, automated mining, precision farming, dredging, satellite attitude control). Advantages and disadvantages of the GPS, INS, and differential GPS-aided INS approaches are discussed. The implementation achieves 100-Hz vehicle state estimates with position accuracies at the centimeter level through the use of differential carrier phase GPS techniques.

175 citations

Proceedings ArticleDOI
06 Mar 2004
TL;DR: In this paper, the authors describe the vision-based control of a small UAV following a road, using only the vision measurements and onboard inertial sensors, using a control strategy stabilizing the aircraft and following the road.
Abstract: This paper describes the vision-based control of a small autonomous aircraft following a road. The computer vision system detects natural features of the scene and tracks the roadway in order to determine relative yaw and lateral displacement between the aircraft and the road. Using only the vision measurements and onboard inertial sensors, a control strategy stabilizes the aircraft and follows the road. The road detection and aircraft control strategies have been verified by hardware in the loop (HIL) simulations over long stretches (several kilometers) of straight roads and in conditions of up to 5 m/s of prevailing wind. Hardware experiments have also been conducted using a modified radio-controlled aircraft. Successful road following was demonstrated over an airfield runway under variable lighting and wind conditions. The development of vision-based control strategies for unmanned aerial vehicles (UAVs), such as the ones presented here, enables complex autonomous missions in environments where typical navigation sensor like GPS are unavailable.

175 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