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.

Gyroscopes and Accelerometers in the Robot Control

Abstract: The paper deals with constructing the inertial navigation system (hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.

Method for stand-alone alignment of an inertial unit for an onboard instrument capable of being mounted in an aircraft, and an onboard instrument being able to use such a method

Abstract: The invention relates to a method for the independent alignment (40) of an inertial unit to be mounted e.g. in an aircraft, characterised in that it comprises the following steps: monitoring the occurrence of a movement of the inertial unit during the alignment (40); interrupting the alignment (40) of the inertial unit in case a movement occurs; resuming the alignment (40) of the inertial unit when the movement ceases. The invention advantageously optimises the alignment duration as the latter can be carried out during all periods when no movement of the inertial unit is detected, and uniquely during said periods. The invention provides a quick and reliable alignment of the inertial unit.

On INS in-motion alignment for land vehicles

Abstract: The Kalman filter(KF)-based method and Inertial reference frame(IRF)-based method for land inertial navigation system in-motion alignment are comprehensively compared and analyzed in this paper. According to the characters of odometer, we choose the displacement increments as the measurements and establish the corresponding model, so as to improve the accuracy of KF-based method. While analyzing the IRF-based method, the factors, which are harmful to the alignment accuracy are presented and the solutions are proposed. Ground based navigation experiments have been carried out to evaluate the performance of these two methods. The results show that both methods can achieve the alignment precision within 0.1°(1σ) in azimuth under well environment. While under complex environment, it should be noted that the IRF-based method cannot guarantee the alignment accuracy.

Analysis of star tracker/accelerometer inertial navigation system in theory

Abstract: In the star tracker/accelerometer inertial navigation system, the star tracker will be used to calculate the attitude matrix. The accelerometer is analyzed and integral utilizing the attitude matrix, to get the velocities and position of carrier, the feedback is formative. After star tracker/accelerometer inertial navigation system in theory is resolved, the errors will be discussed and the result will be proved by the simulation test.

Strap-Down Inertial Navigation Simulation Research

Abstract: Strap-down inertial navigation because it's independent,stable performance,simply equipment,and other characteristics,becomes popular in the field of military and civilian navigation.In this paper,the authors used the principle of inertial navigation to write a strap-down inertial navigation program and model the inertial devices.For testing this program,the real trajectory and mathematical explanation method were combined to design carriers trajectory and attitude angles.We contrasted the set path and angles with the calculated path and angles,and verified the navigation algorithm.The authors found a simple and practical approach to generate flight path,at the same time,verified the correctness of the navigation algorithm.