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.

System and method for creating, storing, and utilizing composite images of a geographic location

Abstract: A system and method synthesizing images of a locale to generate a composite image that provide a panoramic view of the locale. A video camera moves along a street recording images of objects along the street. A GPS receiver and inertial navigation system provide the position of the camera as the images are being recorded. The images are indexed with the position data provided by the GPS receiver and inertial navigation system. The composite image is created on a column-by-column basis by determining which of the acquired images contains the desired pixel column, extracting the pixels associated with the column, and stacking the columns side by side. The composite images are stored in an image database and associated with a street name and number range of the street being depicted in the image. The image database covers a substantial amount of a geographic area allowing a user to visually navigate the area from a user terminal.

Real-time and 3D vision for autonomous small and micro air vehicles

Abstract: Autonomous control of small and micro air vehicles (SMAV) requires precise estimation of both vehicle state and its surrounding environment. Small cameras, which are available today at very low cost, are attractive sensors for SMAV. 3D vision by video and laser scanning has distinct advantages in that they provide positional information relative to objects and environments, in which the vehicle operates, that is critical to obstacle avoidance and mapping of the environment. This paper presents work on real-time 3D vision algorithms for recovering motion and structure from a video sequence, 3D terrain mapping from a laser range finder onboard a small autonomous helicopter, and sensor fusion of visual and GPS/INS sensors.

Measuring Rotational Motion with Linear Accelerometers

Abstract: Inertial navigation systems usually use gyroscopes to sense angular motion and use accelerometers to sense linear acceleration. It is feasible, however, using only linear accelerometers as sensors, to determine both the angular velocity and the linear acceleration of a vehicle. This paper presents and compares five configurations of linear accelerometers which may be used to determine both the angular motion and the linear motion of a vehicle.

The Navstar Global Positioning System

Abstract: 1 The Science of Navigation- What Is Navigation?- A Typical Ground-Based Radionavigation System- The Advantages of Space-based Transmitters- The Transit Navigation Satellites- Gravity Gradient Stabilization- Disturbance Compensation Systems- Compensating for Ionospheric Delays- Compensating for Tropospheric Delays- Navigation Techniques- The Navstar Revolution- Navstar Navigation Techniques- The Navstar Clocks- Practical Benefits for All Mankind- 2 The Navstar GPS- The Space Segment- Signal Structure and Pseudorandom Codes- Navigation Solutions- Correcting for Relativistic Time Delays- Correcting for Ionospheric and Tropospheric Delays- Decoding the 50-Bit-Per-Second Data Stream- The Various Families of Navstar Satellites- The User Segment- A Typical High-Performance 5-Channel Receiver- Operating Procedures- The Control Segment- Inverting the Navigation Solution- The Monitor Stations and The Master Control Station- Field Test Results- 3 Performance Comparisons for Today's Radionavigation Systems- A Sampling of Today's Ground-based Navigation Systems- Loran C/D- Omega- VOR/DME Tacan- The Microwave Landing System- Inertial Navigation- JTIDS Relnav and PLRS- Signpost Navigation Techniques- A Sampling of Today's Space-based Navigation Systems- Transit- The Navstar Global Positioning System- The French Argos- Side-by-side Performance Comparisons- 4 User-Set Architecture- The Major Components of a Typical Navstar Receiver- The Receiver Antenna and Its Associated Electronics- The Tracking Loops- Navigation Processor- Power Supply- Control-Display Unit- Choosing the Proper User-set Architecture- Performance Comparisons- Selecting the Antennas- Selecting the Proper Computer Processing Techniques- Solving for the User's Position- Computing and Interpreting the Geometrical Dilution of Precision- Ranging Error Budgets- Kalman Filtering Techniques- 5 User-set Performance- Accuracy Estimates for Various Methods of Navigation- Performance Criteria to Consider when Purchasing a Navstar Receiver- Receiver Design Choices- Number of Channels and Sequencing Rate- Access to Selective-availability Signals- Available Performance Enhancement Techniques- Computer Processing Capabilities- Receiver Design Smart Card- Today's Available Navstar Receivers- Hand-held Receivers- Commercially Available Navstar Chipsets- 6 Differential Navigation and Pseudo-satellites- Performance Comparisons: Absolute and Differential Navigation- Special Committee 104's Recommended Data-exchange Protocols- The Coast Guard's Differential Navigation System Tests- Motorola's Mini Ranger Test Results- COMSAT's Data Distribution Service for the Gulf of Mexico- Wide-area Differential Navigation Services- Pseudo-satellites- Special Committee 104's Data Exchange Protocols for Pseudo-satellites- Comparisons Between Differential Navigation and Pseudo-satellites- 7 Interferometry Techniques- The Classical Michaelson-Morley Interferometry Experiment- Measuring Attitude Angles with Special Navstar Receivers- Eliminating Solution Ambiguities- Practical Test Results- Using Interferometry to Fix Position- Single, Double, and Triple Differencing Techniques- The POPS Post-Processing Software- Spaceborne Interferometry Receivers- Motorola's Commercially Available Monarch- Tomorrow's Generic Spaceborne Receivers- 8 Integrated Navigation Systems- Integrated Navigation- Inertial Navigation- Error Growth Rates- Reinitialization Techniques- Ring Laser Gyros- Monolithic Ring Laser Gyros- Fiber Optic Gyros- Using the GPS for Testing Inertial Navigation Systems- The Practical Benefits of Integrated Navigation- Chassis-level Integration- 9 Interoperability with Other Navigation Systems- The Soviet Glonass- The Glonass Specification Release at Montreal- The Glonass Constellation- Orbital Maneuvers for the Glonass Satellites- Building Dual-capability GPS/Glonass Receivers- Receiver Design Difficulties- Dual-Capability Receiver Tests at Leeds University- The FAA's Joint Research Efforts with Soviet Scientists- Other Attempts to Build Dual-capability Receivers- Integrity Monitoring Techniques- Interoperability with Other Radionavigation Systems- Eastport International's Integrated System for Underwater Navigation- 10 The Navstar Satellites- The Eight Major Spacecraft Subsystems- The Orbit Injection Subsystem- Tracking, Telemetry and Command- Attitude and Velocity Control- Electrical Power- Navigation Subsystem- Reaction Control- Thermal Control- Structures and Mechanisms- On-orbit Test Results- The Multiyear Spacecraft Procurement- Booster Rockets- Orbital Perturbations- The Spacecraft Ephemeris Constants- Satellite Viewing Angles- Earth-shadowing Intervals- Repeating Ground-trace Geometry- 11 Precise Time Synchronization- John Harrison's Marine Chronometer- Celestial Navigation Techniques- A Short History of Time- The Atomic Clocks Carried Aboard the Navstar Satellites- Cesium Atomic Clocks- Rubidium Atomic Clocks- Developing Atomic Clocks Light Enough to Travel Into Space- The Growing Need for Precise Time Synchronization- Time Sync Methodologies- Fixing Time with the Navstar Signals- Lightweight Hydrogen Masers for Tomorrow's Navstar Satellites- Crosslink Ranging Techniques- 12 Digital Avionics and Air Traffic Control- The Sabreliner's Flight to the Paris Air Show- Four Major Concerns of the Federal Aviation Administration- Selective Availability- User-Set Fees- Integrity-related Failures- Continuous Five-satellite Coverage- Using a Dedicated Constellation for Air Traffic Control- An Alternative Architecture Using the GPS- Comparisons Between Geosynchronous and Semisynchronous Constellations- Piggyback Geosynchronous Payloads- The Autoland System Test Results- 13 Geodetic Surveying and Satellite Positioning- Determining the Shape of Planet Earth- The Theory of Isostasy- The Earth's Contours Under Hydrostatic Equilibrium- GPS Calibrations at the Turtmann Test Range- Static Surveying Techniques- Kinematic and Pseudo-kinematic Surveying- Freeway Surveying During War in the Persian Gulf- Navstar Positioning for Landsat D- The Landsat's Spaceborne Receiver- On-Orbit Navigation Accuracy- Orbit Determination for High-altitude Satellites- Today's Available Spaceborne Receivers- 14 Military Applications- The Military Benefits of the Worldwide Common Grid- Field Test Results- Projected Battlefield Benefits- Test Range Applications- Military Receivers- Carrier-landing Accuracies- Amphibious Warfare Operations- Accuracy-enhancements for Strategic and Cruise Missiles- 15 Civil Applications- Dinosaur Hunting with the GPS- Guiding Archaeological Expeditions- Tracking Hazardous Icebergs- Offshore Oil Exploration- Fixing the Positions of Railroad Trains- Automobile Navigation- Dead Reckoning Systems- Tomorrow's Space-based Vehicle Navigation Techniques- Today's Available Automotive Navigation Systems- Futuristic Applications for Navstar Navigation- Appendix A Additional Sources of lnformation- GPS Information Centers- The US Coast Guard's Information Center- The Computer Bulletin Board at Holloman Air Force Base- Global Satellite Software's Computer Bulletin Board- The Glonass Computer Bulletin Board- Precise GPS Orbit Information- Military GPS Information Directory- GPS Information with a European Flavor- The United Kingdom- The Netherlands- Norway- GPS Clock Behavior- Information for Surveyors- GPS World Magazine- The Federal Radionavigation Plan- Appendix B Today's Global Family of User-set Makers- Domestic User-set Makers- Foreign User-set Makers- Appendix C Navigation-Related Clubs and Organizations- Appendix D Navigation-related Magazines and Periodicals

Global Navigation Satellite Systems, Inertial Navigation, and Integration

Abstract: An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filteringWritten by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS (tightly and loosely coupled), modeling of gyros and accelerometers, and SBAS and GBAS.Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. The Third Edition includes:Updates on the upgrades in existing GNSS and other systems currently under developmentExpanded coverage of basic principles of antenna design and practical antenna design solutionsExpanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiverExpanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementationDerivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parametersGreatly expanded coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB implementations, and performance evaluation under simulated dynamic conditionsThe companion website includes updated background material; additional MATLAB scripts for simulating GNSS-only and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.