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.

Increased error observability of an inertial pedestrian navigation system by rotating IMU

Abstract: Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically–mounted on a shoe–on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.

Method for Correction of Dynamic Output Signals of Inertial Sensors Having Mounting Offsets

Abstract: A method for compensating inertial sensor measurement outputs for mounting locations that are not coincident, nor orthogonal, with the vehicle center of gravity The method further utilizes vehicle angular rate measurements, data, or estimates to determine the discrete acceleration components of the composite inertial sensor measurement output

FPGA platform for MEMS Disc Resonance Gyroscope (DRG) control

Abstract: Inertial navigation systems based upon optical gyroscopes tend to be expensive, large, power consumptive, and are not long lived. Micro-Electromechanical Systems (MEMS) based gyros do not have these shortcomings; however, until recently, the performance of MEMS based gyros had been below navigation grade. Boeing and JPL have been cooperating since 1997 to develop high performance MEMS gyroscopes for miniature, low power space Inertial Reference Unit applications. The efforts resulted in demonstration of a Post Resonator Gyroscope (PRG). This experience led to the more compact Disc Resonator Gyroscope (DRG) for further reduced size and power with potentially increased performance. Currently, the mass, volume and power of the DRG are dominated by the size of the electronics. This paper will detail the FPGA based digital electronics architecture and its implementation for the DRG which will allow reduction of size and power and will increase performance through a reduction in electronics noise. Using the digital control based on FPGA, we can program and modify in real-time the control loop to adapt to the specificity of each particular gyro and the change of the mechanical characteristic of the gyro during its life time.

Micro Inertial Measurement Unit based integrated velocity strapdown testing system

Abstract: Based on Micro Inertial Measurement Unit (MIMU), the integrated velocity strapdown testing system was researched. The system was designed with a variety of new design methods, such as micromachining, ASIC and system integration. Both the working principle and the structure of the system were described. As an example of its application, the attitude of the separation process of a certain flying object and its mantle was tested by the system and the relevant curves based on the tested data were presented. Finally, the potential application of MIMU in the area of military and its market prospects were predicted.