Inertial reference unit

About: Inertial reference unit is a research topic. Over the lifetime, 1306 publications have been published within this topic receiving 22068 citations. The topic is also known as: IRU.

Angular acceleration calculation method on non-gyro inertial measurement unit

Abstract: With the development of technology, it is very important to measure the parameter of angle. This paper gives an introduction of basic principle of Non-gyro Inertial Measurement Unit. According to the theory of geostatics, Arithmetic and basic principles of NGIMU are given. In describing the movement of rigid body, we suppose an inertial frame and revolving frame, the expression of angle acceleration is given by the arrangement of linear acceleration. The application of arithmetic and basic principles is given in the paper, calculating the single angle acceleration by three linear acceleration and processing the signal through analog filter, amplifier and digital filter, then discussing the possible problem in practicality.

Marine positioning with a GPS-aided inertial navigation system

Abstract: The accuracy requirements for precise horizontal positioning of a moving vessel in the offshore and open ocean are expected to approach the 3m to Sm level within this decade Previous simulation studies and lan d-based tests have shown that such a level of accuracy can be achieved by a combination of inertial navigation and GPS satellite positioning techniques A Kalman filter and an optimal smoother have been developed to integrate an inertial navigation system with a slow switching GPS satellite receiver for marine positioning purposes The Kalman filter and optimal smoother were tested on the Canadian east coast in November 1982 The paper outlines first the operational principle of the GPS aided inertial navigation system and the development of the Kalman filter and smoother It then presents the results and a detailed error analysis of the offshore tests

Fusion of inertial and vision data for accurate tracking

Abstract: We present a sensor fusion framework for real-time tracking applications combining inertial sensors with a camera. In order to make clear how to exploit the information in the inertial sensor, two different fusion models gyroscopes only model and accelerometers model are presented under extended Kalman filter framework. Gyroscopes only model uses gyroscopes to support the vision-based tracking without considering acceleration measurements. Accelerometers model utilizes both measurements from the gyroscopes, accelerometers and vision data to estimate the camera pose, velocity, acceleration and sensor biases. Synthetic data and real image experimental sequences show dramatic improvements in tracking stability and robustness of estimated motion parameters for gyroscope model, when the accelerometer measurements exist drift.

High performance strapdown inertial navigation system algorithms for space flight

Abstract: To satisfy inertial navigation demands for space flight, high performance space-oriented strapdown inertial navigation system (SINS) algorithms are developed in the paper. The new algorithms are derived from a two-speed updating approach, which are far fit for the integration in digital computer than conventional methods and improve the robustness of space inertial navigation system (INS) in high dynamic environments. The performance is validated through high-fidelity simulations, and inertial measurements data for simulating are generated based on true trajectories of space vehicles and inertial sensor (gyro and accelerometer) error models. Moreover, the effects of inertial sensorspsila measurement errors on the precision of the new spaceflight SINS algorithms are evaluated.