Artículos de revistas: "Inertial navigation systems"

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Kortunov, V. I., I. Yu Dybska, G. A. Proskura y T. Trachsel. "Accuracy Analysis of Strapdown Inertial Navigation Systems". Kosmìčna nauka ì tehnologìâ 13, n.º 4 (30 de julio de 2007): 40–48. http://dx.doi.org/10.15407/knit2007.04.040.

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2

Turygin, Yuri, Pavol Božek, Yuri Nikitin, Ella Sosnovich y Andrey Abramov. "Enhancing the reliability of mobile robots control process via reverse validation". International Journal of Advanced Robotic Systems 13, n.º 6 (1 de diciembre de 2016): 172988141668052. http://dx.doi.org/10.1177/1729881416680521.

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The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.

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3

Szelmanowski, Andrzej, Mirosław Nowakowski, Zbigniew Jakielaszek y Piotr Rogala. "Computer-based method for the technical condition evaluation of the Cardan inertial navigation system for the highly maneuverable aircraft". AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, n.º 1-2 (28 de febrero de 2019): 344–51. http://dx.doi.org/10.24136/atest.2019.064.

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Paper presents the original computer-based method of the technical condition evaluation of the analog inertial navigation systems on the basis of the calculated inertial speed course analysis. There are presented the mathematical relationships describing the influence of the angular velocity and linear accelerations sensors errors (used in inertial navigation systems on board the military aircraft) with the relation to the discrepancies of the calculated pilot-navigational parameters (such as inertial speed components and navigational position coordinates). On the example of the Cardan navigation system IKW-8 (used on board the highly-maneuverable SU-22 aircraft) there are presented the inertial speed course measurement and analysis possibilities as well as the criteria of technical condition evaluation and determination of the tendency of its changes.

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4

Vaispacher, Tomáš, Róbert Bréda y František Adamčík. "Error Analysis of Inertial Navigation Systems Using Test Algorithms". Naše more 62, SI (octubre de 2015): 204–8. http://dx.doi.org/10.17818/nm/2015/si21.

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5

Kovalenko, A. M. y A. A. Shejnikov. "Model of the inertial and optical navigation system of the unmanned aerial vehicle". «System analysis and applied information science», n.º 2 (18 de agosto de 2020): 17–25. http://dx.doi.org/10.21122/2309-4923-2020-2-17-25.

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In article approaches to creation of the complex inertial and optical navigation system of the short-range tactical unmanned aerial vehicle are considered. Algorithms constant and periodic (in intermediate points of a route) are offered correction of the platformless onboard inertial navigation system. At integration of information on parameters of the movement of the unmanned aerial vehicle (received from the considered systems) the invariant loosely coupled scheme of data processing on the basis of the expanded filter of Kallman was used that allowed to lower significantly a systematic component of an error of the platformless inertial navigation system. Advantages of the complex inertial and optical navigation system when ensuring flight of the unmanned aerial vehicle in an area of coverage of means of radio-electronic fight of the opponent are shown. The results of modeling confirming a possibility of ensuring precision characteristics of the inertial and optical navigation system in the absence of signals of satellite radio navigational systems are presented.

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6

Novikov, P. V., A. A. Sheypak, V. N. Gerdi, V. V. Novikov y V. N. Enin. "Algorithm for navigation of ground-based transport-technological facilities on the basis of integrated inertial-satellite navigation and odometer data". Izvestiya MGTU MAMI 11, n.º 2 (15 de junio de 2017): 31–39. http://dx.doi.org/10.17816/2074-0530-66895.

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The dynamic development of navigation technologies has led to the emergence of practical applications for the solution of the problem of navigation of ground transport and technological facilities (GTTF). The most promising way of solving the navigation problem of GTTF is the creation of integrated inertial-satellite navigation systems. For a long period of time, the widespread use of navigation systems for transport applications was constrained by their high cost. The appearance of low-cost microelectromechanical (MEMS) inertial sensors on the market of navigation equipment provided the technological basis for the creation of small-scale inertial-satellite navigation systems. For transport applications, integrated inertial-satellite are integrated with additional information sensors, which include the odometer. Implementation of integrated systems is impeded by massively high level of intrinsic errors in MEMS sensors, as well as by the low accuracy of determining navigational parameters in the zone where the satellite signal of the satellite navigation systems is not stable. It is obvious that the development of methods for processing measurement information and the synthesis of specialized algorithms that ensure the accuracy of navigation systems GTTF is an urgent scientific task. In this paper, a schematic and technical solution for constructing an integrated inertial-satellite navigation systems with an integrated odometer sensor is presented and justified. A specialized navigation algorithm is developed that provides an integrated navigation solution for data coming from heterogeneous sources of measurements. A detailed functional diagram of the algorithm is given. A set of functional criteria for the quality and reliability of the navigation solution is defined. Correction algorithms for the main kinematic parameters of the trajectory motion of the GTTF - the true course angle, the location coordinates, the velocity vector components, are developed. The developed algorithm is invariant to the type of inertial sensors and in this sense is unified. Performance was confirmed by the results of full-scale tests of the navigation system of a forklift truck carrying out freight traffic on the territory of the seaport.

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7

Ushaq, Muhammad y Jian Cheng Fang. "An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems". Applied Mechanics and Materials 245 (diciembre de 2012): 323–29. http://dx.doi.org/10.4028/www.scientific.net/amm.245.323.

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Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

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8

E, Topolskov, Beljaevskiy L. L y Serdjuke A. "IMPROVEMENT OF NAVIGATION SYSTEMS OF VEHICLES BY MEANS OF INERTIAL SENSORS AND INFORMATION PROCESSING USING PROBABILITY-GEOMETRIC METHODS". National Transport University Bulletin 1, n.º 46 (2020): 353–64. http://dx.doi.org/10.33744/2308-6645-2020-1-46-353-364.

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Providing high accuracy of the coordinates and trajectories of objects by measurements conducted in navigation systems and complexes is an urgent task, which improves safety and efficiency of different modes of transport. However difficult environmental conditions, where vehicles are commonly used, stipulate influence of different factors on performance of onboard satellite navigation receivers, which are used as basic navigation devices for ground vehicle nowadays. Setting on cars used for common purposes additional navigation devices, which provide better performance, in most cases is economically unreasonable. Economically reasonable ways to improve onboard navigation complexes of vehicles, which are used for common purposes, are examined in this article. Functional diagram and principles of work of navigational complex, which uses the satellite navigation receiver and simplified variant of inertial navigation system is pointed as well. Also, the justification of methods for minimizing the error formats of coordinates and trajectories of moving objects based on information processing in multipositional, in particular satellite-inertial navigation systems and complexes, is presented. The obtained research results give an opportunity to develop an algorithm for coordinate refinement, which can be implemented in the improved on-board navigational complex of vehicle. KEY WORDS: NAVIGATION SYSTEMS AND COMPLEXES, INERTIAL SENSORS, NAVIGATION DEFINITIONS, ACCURACY AND RELIABILITY OF COORDINATES AND TRAJECTORIES OF MOVING OBJECTS, ELLIPS OF ERRORS, PROBABILISTIC-GEOMETRIC METHODS.

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9

Bodhare, Hemant Gautam y Asst Prof Gauri Ansurkar. "LEO based Satellite Navigation and Anti-Theft Tracking System for Automobiles". International Journal for Research in Applied Science and Engineering Technology 10, n.º 4 (30 de abril de 2022): 557–63. http://dx.doi.org/10.22214/ijraset.2022.41316.

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Abstract: GPS and Inertial Navigation Systems (INS) are used today in automobile navigation and tracking systems to locate themselves in Four Dimensions (latitude, longitude, altitude, time). However, GNSS or GPS still has its own bottleneck, such as the long initialization period of Precise Point Positioning (PPP) without dense reference network. For navigation, a number of selected LEO satellites can be equipped with a transmitter to transmit similar navigation signals to land users, so they can act like GNSS satellites but with much faster geometric change to enhance GNSS capability, which is named as LEO constellation enhanced GNSS (LeGNSS). This paper focuses on Low Earth Orbit navigation and anti-theft tracking system in automobiles that represents a framework which enables a navigating vehicle to aid its Inertial Navigation System when GNSS or GPS signal becomes unusable. Over the course of following years LEO satellite constellation will be available globally at ideal geometric locations. LEO Satellite aided Inertial navigation system with periodically transmitted satellite positions has the potential to achieve meter-level-accurate location. Keywords: LEO constellation, LEO enhanced GNSS (LeGNSS), Precise Point Positioning (PPP), Inertial Navigation System (INS), Precise Orbit Determination (POD)

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10

Smith, S. G. "Developments in Inertial Navigation". Journal of Navigation 39, n.º 3 (septiembre de 1986): 401–15. http://dx.doi.org/10.1017/s0373463300000874.

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Inertial navigation systems represent the ideal in automatic navigation. They operate entirely without external assistance, other than information as to their starting conditions, which makes them of great interest to both military and civil operators.

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11

Karachun, V. V., Ya F. Kayuk y V. N. Mel'nik. "Wave tasks of inertial navigation systems". Kosmìčna nauka ì tehnologìâ 13, n.º 6 (30 de noviembre de 2007): 39–45. http://dx.doi.org/10.15407/knit2007.06.039.

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12

Barshan, B. y H. F. Durrant-Whyte. "Inertial navigation systems for mobile robots". IEEE Transactions on Robotics and Automation 11, n.º 3 (junio de 1995): 328–42. http://dx.doi.org/10.1109/70.388775.

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13

Abo El Soud, M., E. Zakzouk, A. Hamad y M. El-Dakiky. "ERROR ANALYSIS OF INERTIAL NAVIGATION SYSTEMS". International Conference on Aerospace Sciences and Aviation Technology 2, CONFERENCE (1 de abril de 1987): 1–9. http://dx.doi.org/10.21608/asat.1987.26201.

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14

Trifonov-Bogdanov, Peter, Anastasia Zhiravetska, Tatjana Trifonova-Bogdanova y Vladimir Shestakov. "MECHANISMS OF ERROR DEVELOPMENT IN INERTIAL NAVIGATION SYSTEMS". Aviation 16, n.º 2 (29 de junio de 2012): 33–37. http://dx.doi.org/10.3846/16487788.2012.701872.

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The processes of error development in an inertial navigation system are analysed. With this aim, the standard structures of error development were extracted in the inertial system. Error development was defined in the standard structures. Error development in the inertial navigation system is concluded according to the results obtained in the work.

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15

Qian, Kun, Jian-Guo Wang y Baoxin Hu. "Novel Integration Strategy for GNSS-Aided Inertial Integrated Navigation". GEOMATICA 69, n.º 2 (junio de 2015): 217–30. http://dx.doi.org/10.5623/cig2015-205.

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The conventional integration mechanism in GNSS (Global Navigation Satellite Systems) aided inertial integrated positioning and navigation system is mainly based on the continuous outputs of the navigation mechanization, the associated error models for navigation parameters, the biases of the inertial measurement units (IMU), and the error measurements. Its strong dependence on the a priori error characteristics of inertial sensors may suffer with the low-cost IMUs, e.g. the MEMS IMUs due to their low and unstable performance. This paper strives for a significant breakthrough in a compact and general integration strategy which restructures the Kalman filter by deploying a system model on the basis of 3D kinematics of a rigid body and performing measurement update via all sensor data inclusive of the IMU measurements. This novel IMU/GNSS Kalman filter directly estimates navigational parameters instead of the error states. It enables the direct use of the IMU's raw outputs as measurements in measurement updates of Kalman filter instead of involving the free inertial navigation calculation through the conventional integration mechanism. This realization makes all of the sensors in a system no longer to be differentiated between core and aiding sensors. The proposed integration strategy can greatly enhance the sustainability of low-cost navigation systems in poor GNSS and/or GNSS denied environment compared to the conventional aided error-state-based inertial navigation integration mechanism. The post-processed solutions are presented to show the success of the proposed multisensor integrated navigation strategy.

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16

Wang, Lin, Wenqi Wu, Guo Wei, Jinlong Li y Ruihang Yu. "A Novel Information Fusion Method for Redundant Rotational Inertial Navigation Systems Based on Reduced-Order Kalman Filter". MATEC Web of Conferences 160 (2018): 07005. http://dx.doi.org/10.1051/matecconf/201816007005.

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The redundant rotational inertial navigation systems can satisfy not only the high-accuracy but also the high-reliability demands of underwater vehicle on navigation system. However, different systems are usually independent, and lack of information fusion. A reduced-order Kalman filter is designed to fuse the navigation information output of redundant rotational navigation systems which usually include a dual-axis rotational inertial navigation system being master system and a single-axis rotational inertial navigation system being hot-backup system. The azimuth gyro drift of single-axis rotational inertial navigation system can be estimated by the designed filter, whereby the position error caused by that can be compensated with the aid of designed position error prediction model. As a result, the improved performance of single-axis rotational inertial navigation system can guarantee the position accuracy in the case of dual-axis system failure. Semi-physical simulation and experiment verify the effectiveness of the proposed method.

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17

Fariz, Outamazirt, Muhammad Ushaq, Yan Lin y Fu Li. "Enhanced Accuracy Navigation Solutions Realized through SINS/GPS Integrated Navigation System". Applied Mechanics and Materials 332 (julio de 2013): 79–85. http://dx.doi.org/10.4028/www.scientific.net/amm.332.79.

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Strapdown Inertial Navigation Systems (SINS) displays position errors which grow with time in an unbounded manner. This degradation is due to the errors in the initialization of the inertial measurement unit, and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Improvement to this unbounded growth in errors can be made by updating the inertial navigation system solutions periodically with external position fixes, velocity fixes, attitude fixes or any combination of these fixes. The increased accuracy is obtained through external measurements updating inertial navigation system using Kalman filter algorithm. It is the basic requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertial Navigation System (SINS), Global Positioning System (GPS) is presented using a centralized linear Kalman filter.

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18

Chen, Danhe, Konstantin Neusypin, Maria Selezneva y Zhongcheng Mu. "New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts". Sensors 19, n.º 22 (17 de noviembre de 2019): 5016. http://dx.doi.org/10.3390/s19225016.

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This paper presents new algorithmic methods for accuracy improvement of autonomous inertial navigation systems of aircrafts. Firstly, an inertial navigation system platform and its nonlinear error model are considered, and the correction schemes are presented for autonomous inertial navigation systems using internal information. Next, a correction algorithm is proposed based on signals from precession angle sensors. A vector of reduced measurements for the estimation algorithm is formulated using the information about the angles of precession. Finally, the accuracy of the developed correction algorithms for autonomous inertial navigation systems of aircrafts is studied. Numerical solutions for the correction algorithm are presented by the adaptive Kalman filter for the measurement data from the sensors. Real data of navigation system Ts-060K are obtained in laboratory experiments, which validates the proposed algorithms.

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19

Shcherban’, I. V. y O. G. Shcherban’. "Algorithm for integrated inertial-satellite navigation systems". Automatic Control and Computer Sciences 48, n.º 6 (noviembre de 2014): 368–74. http://dx.doi.org/10.3103/s014641161406008x.

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20

Bar-Itzhack, I. Y. y N. Berman. "Control theoretic approach to inertial navigation systems". Journal of Guidance, Control, and Dynamics 11, n.º 3 (mayo de 1988): 237–45. http://dx.doi.org/10.2514/3.20299.

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21

Prokhorov, Y. G. "Observability of gravimeter-aided inertial navigation systems". Journal of Guidance, Control, and Dynamics 18, n.º 6 (noviembre de 1995): 1416–19. http://dx.doi.org/10.2514/3.21562.

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22

LEE, Man Hyung, Won Chul PARK, Kil Soo LEE, Sinpyo HONG, Hyung Gyu PARK, Ho Hwan CHUN y Fumio HARASHIMA. "Observability Analysis Techniques on Inertial Navigation Systems". Journal of System Design and Dynamics 6, n.º 1 (2012): 28–44. http://dx.doi.org/10.1299/jsdd.6.28.

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23

C.-W. Tan y S. Park. "Design of Accelerometer-Based Inertial Navigation Systems". IEEE Transactions on Instrumentation and Measurement 54, n.º 6 (diciembre de 2005): 2520–30. http://dx.doi.org/10.1109/tim.2005.858129.

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24

Lin, Boyu y Hutao Cui. "Research on A Low Computational Cost Vision-aided Inertial Navigation Method for Precision Landing on Asteroid". Journal of Physics: Conference Series 2203, n.º 1 (1 de febrero de 2022): 012020. http://dx.doi.org/10.1088/1742-6596/2203/1/012020.

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Abstract Asteroid exploration missions demand more autonomous navigation system that are precise and in real-time. Visual-aided inertial navigation systems combine the advantages of autonomy of inertial navigation systems and accuracy of visual navigation systems. However, both increase the computational burden for the information processing. With the goal of decreasing the computational load, this paper proposes a low cost vision-aided inertial navigation method which can calculate increment position, velocity and attitude directly in inertial frame by pre-integrating IMU measurements. For visual information, specific combinations of the features are selected according to information entropy theory to reduce computation. Simulation results show that the standard deviations of the spacecraft’s estimated position error is less than 1 m, the velocity less than 0.002 m/s and the attitude angle less than 0.005 deg, compatible with precision landing on asteroids.

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25

Novikov, P. V., A. A. Sheypak, V. N. Gerdi y V. V. Novikov. "Increase of the accuracy and reliability of output parameters determination of vehicle Integrated Navigation Systems". Izvestiya MGTU MAMI 10, n.º 4 (15 de diciembre de 2016): 50–56. http://dx.doi.org/10.17816/2074-0530-66919.

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Dynamic development of navigation technologies opens up possibilities for the successful solution of a wide range of navigation tasks of mobile objects. For a long time the extension of the scope of navigation systems for transport applications was constrained by their high cost. The emergence of a small cheap inertial sensors, based on MEMS technology have resulted in integrated navigation systems, including the inertial and satellite GPS/GLONASS inertial modules. For solving problems of navigation of ground vehicles the integrated system is combinated with odometer. Nowadays a number of car navigation systems were made including the odometer along with the inertial measurement unit and a receiver of a satellite navigation system. However, most of these systems only exists in the form of models. The article provides the option of constructing the integrated navigation system of a vehicle brought to practical implementation. The analysis of the errors of the navigation system was made. The method of correction of errors due to the damping of the errors in speed with subsequent consideration of the damping of the amendments was proposed. Method is distinguished by ease of implementation and reliability. Correction of the navigation parameters calculated on the base of measurements of inertial sensors and odometer is permissible only when it is known that their accumulated errors have exceeded the corresponding error of the satellite navigation solution. Essentially new to the theory and practice of operation of vehicle is the introduction of a system of criteria characterizing the stability of mode generation navigation parameters. In article the numerical value of criteria-based assessments are of interest to developers of navigation systems, since accounting provides the reliability of the determination of output parameters of the system. The practical value of the presented research results, is that they can be used in the construction of high-precision navigation system of a ground vehicle.

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26

Napier, M. "Integration of Satellite and Inertial Positioning Systems". Journal of Navigation 43, n.º 1 (enero de 1990): 48–57. http://dx.doi.org/10.1017/s0373463300013813.

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The Global Positioning System (GPS) offers an absolute positioning accuracy of 15 to 100 metres. Inertial navigation complements GPS in that it provides relative positioning and is totally self-contained. These two positioning sensors are ideally suited for system integration for although there is not necessarily an improvement in accuracy, the integration of GPS with inertial navigation systems (INS) does enable an increase in system performance.

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27

Rahimi, Hossein y Amir Ali Nikkhah. "Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter". International Journal of Advanced Robotic Systems 17, n.º 1 (1 de enero de 2020): 172988141989484. http://dx.doi.org/10.1177/1729881419894849.

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In this article, a method was proposed for strapdown inertial navigation systems initial alignment by drawing on the conventional alignment method for stable platform navigation systems. When a vessel is moored, the strapdown inertial navigation system contributes to the disturbing motion. Moreover, the conventional methods of accurate alignment fail to succeed within an acceptable period of time due to the slow convergence of the heading channel in the mooring conditions. In this work, the heading was adjusted using the velocity bias resulting from the component of the angular velocity of the Earth on the east channel on the strapdown inertial navigation systems analytic platform plane to accelerate convergence in the initial alignment of navigation system. To this end, an extended Kalman filter with control signal feedback was used. The heading error was calculated using the north channel residual velocity of the strapdown inertial navigation systems analytic platform plane and was entered into an extended Kalman filter. Simulation and turntable experimental tests were indicative of the ability of the proposed alignment method to increase heading converge speed in mooring conditions.

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28

Szelmanowski, Andrzej. "Feasibility to Diagnose Inertial Navigation Systems Through Analysis of Schuler Errors". Research Works of Air Force Institute of Technology 33, n.º 1 (1 de enero de 2013): 173–86. http://dx.doi.org/10.2478/afit-2013-0010.

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Abstract The paper is intended to discuss errors in measurements of angular velocity and linear acceleration by means of electronic inertial sensors incorporated into the Attitude and Heading Reference Systems (AHRS) as well as Inertial Navigation Systems (INS). The mathematical equations are found out to establish how these errors affect deviations of flight parameters (such as linear speed and coordinates of the aircraft position indicated by navigation systems) that are calculated from the measurements and imaged e.g. in helmetmounted cueing systems. Some issues related to diagnostics of inertial navigation systems are addressed as well, both the most recent ones (e.g. the TOTEM-3000 central station with laser sensors installed on-board of the W-3PL GŁUSZEC helicopter) integrated via digital data buses MIL-1553B or ARINC-429 as well as more outdated solutions, such as IKW-1 and IKW-8 system used for Su-22 aircrafts. The methods of examination of the data processing paths for signals received from inertial sensors are presented with guidelines for development of the computer system for assessment of technical condition exhibited by systems of inertial navigation with prolonged technical resource.

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Vasilyuk, Nikolay N. "Integrated GNSS antenna with an embedded inertial measurement unit". Izmeritel`naya Tekhnika, n.º 3 (2020): 16–23. http://dx.doi.org/10.32446/0368-1025it.2020-3-16-23.

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When constructing inertial/GNSS navigation systems, it is necessary to determine coordinates of a GNSS antenna relative to an inertial measurement unit. It is proposed to solve this problem by integrating of the inertial unit and GNSS antenna’s element into a common structure called an integrated antenna. This approach allows to determine the required coordinates in factory conditions, during a manufacturing of the integrated antenna. Operation principles of design modules of the integrated antenna and ways to use this antenna in the inertial/GNSS navigation systems have been described. Design features of a half-duplex digital data exchange between the antenna and a data processor have been indicated. Approaches to use this exchange to solve some service tasks of the navigation system have been proposed. It is noted that the integrated antenna has its own measuring basis. Methods of accounting of the attitude of this basis in practical applications of the integrated antennas in the single- and multi-antenna inertial/GNSS navigation systems have been described.

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Ibrahim, M. A. y V. V. Luk'yanov. "Algorithms and Configuration for a Moving Object Attitude Control System Based on Microelectromechanical Sensors". Herald of the Bauman Moscow State Technical University. Series Instrument Engineering, n.º 2 (131) (junio de 2020): 44–58. http://dx.doi.org/10.18698/0236-3933-2020-2-44-58.

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Inertial systems for attitude control, stabilisation and navigation of moving objects boast a range of unique qualities, the most important of which are autonomy and interference immunity. At present, strap-down inertial navigation systems using inexpensive and compact microelectromechanical sensors are popular. The biggest disadvantage of the attitude control systems utilising microelectromechanical sensors is rapid error accumulation over time. The main error sources in strap-down inertial navigation systems are the errors of angular velocity sensors and accelerometers. Currently the accuracy required is ensured by the attitude control system processing the following two signals simultaneously: the magnetometer signal and the signal received from global navigation satellite systems such as GPS (NAVSTAR) and/or GLONASS. We developed an unconventional approach to integrating the two systems, that is, a strap-down inertial navigation system and a global navigation satellite system. It involves using the difference between the accelerations computed according to the global navigation satellite systems and those computed by the acelerometers and transformed to the geographic coordinate system for evaluating and compensating for the error of attitude angle assessment via the kinematic channel. Since this approach does not use integration of accelerometer readings, the attitude angle errors at the initial stage do not accumulate over time. Numerical simulation results of the algorithms developed show that the attainable attitude angle estimation accuracy significantly exceeds the accuracy of conventional methods

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31

Seo, Yeong-Bin, Haesung Yu, Kyungdon Ryu, Inseop Lee, Juhyun Oh, Cheonjoong Kim, Sang Jeong Lee y Chansik Park. "Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems". Sensors 22, n.º 21 (31 de octubre de 2022): 8355. http://dx.doi.org/10.3390/s22218355.

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In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.

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32

Wei, Qiushuo, Feng Zha, Hongyang He y Bao Li. "An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems". Sensors 22, n.º 19 (7 de octubre de 2022): 7610. http://dx.doi.org/10.3390/s22197610.

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The system-level calibration technology of rotational inertial navigation is one of the main methods to improve the accuracy of inertial navigation, and the design of the calibration scheme is the key to calibration technology. By the establishment of the error model of inertial navigation system, a 30-position calibration scheme is designed in this study. Based on the 30-dimensional Kalman filter, the constant errors, scale factor errors and installation error of gyroscope and accelerometer are identified. Comparing the traditional schemes and the 30-position scheme with the simulation experiment, the observability of the 30-position scheme is higher, the residual error of the estimated sensor is smaller and the navigation positioning accuracy after the estimated inertial sensor error parameter compensation is higher, which verifies the feasibility of the 30-position scheme. Finally, the measured experiment uses the 30-position scheme to estimate the error of a certain type of IMU sensor, and the calibration curve of the error parameter is well converged before the end of the calibration experiment, so it has certain practical value.

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33

Ghasemzadeh, Vahid y Mohammad M. Arefi. "Design, modeling, and simulation of an INS system using an asymmetric structure of six accelerometers and its error analysis in the ECEF frame". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, n.º 13 (11 de agosto de 2016): 2345–61. http://dx.doi.org/10.1177/0954410016662059.

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The inertial navigation system is one of the most important and common methods of navigation. In this system, accelerometers and gyroscopes are used to measure linear accelerations and angular velocities, respectively. Accelerometers have simpler manufacture techniques, lower cost, and smaller volume and weight in comparison with gyroscopes. Therefore, in some application of navigation systems, non-gyro inertial navigation systems based on accelerometers are used. In this paper, an asymmetric structure of six accelerometers is proposed. Then dynamic relations of this structure are extracted. This structure and its relations can determine linear accelerations and angular velocities, completely. Moreover, the algorithm of inertial navigation in earth centered earth fixed (ECEF) frame is suggested. Error analysis as of the most important issues in inertial navigation is discussed. Thus, bias, misalignment, sensitivity, and noise of accelerometers are modeled appropriately. In addition, a symmetric structure of accelerometers is proposed and its equations are derived. Finally, the designed system, error model of accelerometers, and algorithm of inertial navigation in ECEF frame are simulated. The results of simulation show that the designed system has suitable accuracy and applications for short time navigation. Furthermore, results confirm that the proposed asymmetric structure requires less accelerometer in comparison with symmetric structure.

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34

Mohamed, H. A., J. M. Hansen, M. M. Elhabiby, N. El-Sheimy y A. B. Sesay. "PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION". ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-1/W4 (26 de agosto de 2015): 337–43. http://dx.doi.org/10.5194/isprsarchives-xl-1-w4-337-2015.

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Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

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35

Duan, Yabo, Huaizhan Li, Suqin Wu y Kefei Zhang. "INS Error Estimation Based on an ANFIS and Its Application in Complex and Covert Surroundings". ISPRS International Journal of Geo-Information 10, n.º 6 (4 de junio de 2021): 388. http://dx.doi.org/10.3390/ijgi10060388.

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Inertial navigation is a crucial part of vehicle navigation systems in complex and covert surroundings. To address the low accuracy of vehicle inertial navigation in multifaced and covert surroundings, in this study, we proposed an inertial navigation error estimation based on an adaptive neuro fuzzy inference system (ANFIS) which can quickly and accurately output the position error of a vehicle end-to-end. The new system was tested using both single-sequence and multi-sequence data collected from a vehicle by the KITTI dataset. The results were compared with an inertial navigation system (INS) position solution method, artificial neural networks (ANNs) method, and a long short-term memory (LSTM) method. Test results indicated that the accumulative position errors in single sequence and multi-sequences experiments decreased from 9.83% and 4.14% to 0.45% and 0.61% by using ANFIS, respectively, which were significantly less than those of the other three approaches. This result suggests that the ANFIS can considerably improve the positioning accuracy of inertial navigation, which has significance for vehicle inertial navigation in complex and covert surroundings.

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36

Yakushin, Sergey. "Synergetic Concept of Algorithms Autonomous Inertial Navigation Systems". Annual of Navigation 19, n.º 2 (1 de diciembre de 2012): 185–97. http://dx.doi.org/10.2478/v10367-012-0026-4.

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Abstract Errors of INS output parameters lead to a positive feedback effect of errors and eventually to an even more dramatic increase in system errors. To reduce the impact of this problem on the error output parameters of INS, in this paper, we propose and study a new concept of constructing algorithms for autonomous INS, which is called as synergetic concept. In the paper the synergetic concept of inertial system’s algorithm is presented and investigated by implementing its into strapdown inertial navigation system (SDINS).

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37

Hu, Wiedo, Ahmed Mohamed Gharuib y Alaa El-Din Sayed Hafez. "Template Match Object Detection for Inertial Navigation Systems". Positioning 02, n.º 02 (2011): 78–83. http://dx.doi.org/10.4236/pos.2011.22008.

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38

ABD EL-MOHSEN, A. y R. BOUSHRA. "ON THE APPLICATION OPOSCILLOGYRD IN INERTIAL NAVIGATION SYSTEMS". International Conference on Applied Mechanics and Mechanical Engineering 2, n.º 2 (1 de mayo de 1986): 203–14. http://dx.doi.org/10.21608/amme.1986.56845.

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39

Kriegsman, B. A. y K. B. Mahar. "Gravity-model errors in mobile inertial-navigation systems". Journal of Guidance, Control, and Dynamics 9, n.º 3 (mayo de 1986): 312–18. http://dx.doi.org/10.2514/3.20108.

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40

Core, G. Del y V. Nastro. "A World-wide Mechanization in Inertial Navigation Systems". Journal of Navigation 39, n.º 3 (septiembre de 1986): 441–45. http://dx.doi.org/10.1017/s0373463300000916.

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41

Sablin, A. V., V. E. Alekseev y A. N. Solov’ev. "Parametric design and verification of inertial navigation systems". Russian Microelectronics 44, n.º 7 (14 de noviembre de 2015): 501–5. http://dx.doi.org/10.1134/s1063739715070136.

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42

Moussa, M., A. Moussa, M. Elhabiby y N. El-Sheimy. "INVESTIGATION OF DIFFERENT LOW-COST LAND VEHICLE NAVIGATION SYSTEMS BASED ON CPD SENSORS AND VEHICLE INFORMATION". ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences V-1-2020 (3 de agosto de 2020): 189–97. http://dx.doi.org/10.5194/isprs-annals-v-1-2020-189-2020.

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Abstract. Recently, many companies and research centres have been working on research and development of navigation technologies for self-driving cars. Many navigation technologies were developed based on the fusion of various sensors. However, most of these techniques used expensive sensors and consequently increase the overall cost of such cars. Therefore, low-cost sensors are now a rich research topic in land vehicle navigation. Consumer Portable Devices (CPDs) such as smartphones and tablets are being widely used and contain many sensors (e.g. cameras, barometers, magnetometers, accelerometers, gyroscopes, and GNSS receivers) that can be used in the land vehicle navigation applications.This paper investigates various land vehicle navigation systems based on low-cost self-contained inertial sensors in CPD, vehicle information and on-board sensors with a focus on GNSS denied environment. Vehicle motion information such as forward speed is acquired from On-Board Diagnosis II (OBD-II) while the land vehicle heading change is estimated using CPD attached to the steering wheel. Additionally, a low-cost on-board GNSS/inertial integrated system is also employed. The paper investigates many navigation schemes such as different Dead Reckoning (DR) systems, Reduced Inertial Sensor System (RISS) based systems, and aided loosely coupled GNSS/inertial integrated system.An experimental road test is performed, and different simulated GNSS signal outages were applied to the data. The results show that the modified RISS system based on OBD-II velocity, onboard gyroscopes, accelerometers, and CPD-based heading change provides a better navigation estimation than the typical RISS system for 90s GNSS signal outage. On the other hand, typical inertial aided with CPD heading change, OBD-II velocity updates, and Non-Holonomic Constraint (NHC) provide the best navigation result.

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43

Janocha, H. y D. Schmidt. "Requirements for inertial sensor systems for measuring robot positions". Robotica 8, n.º 2 (abril de 1990): 145–50. http://dx.doi.org/10.1017/s0263574700007724.

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SummaryInertial Measurement Systems (IMS) allow the position calculation of moving objects without requiring outside information. For years the inertial 3-D coordinate measuring technique has been subject to intense research in geodesy and autonomous navigation of land-, water-and airborne vehicles. Because of these areas of application inertially-based systems have been designed for long term measuring only. Here we discuss the requirements that are imposed on inertial sensors in order for them to be used for the calculation of positions of robots. The use of modern sensor technology, combined with strategies for error correction, can result in substantial advantages when calculating robot positions independently from load and environment.

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44

Golovan, A. A. y I. V. Nikitin. "Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 1". Moscow University Mechanics Bulletin 70, n.º 2 (marzo de 2015): 46–49. http://dx.doi.org/10.3103/s0027133015020065.

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45

Golovan, A. A. y I. V. Nikitin. "Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 2". Moscow University Mechanics Bulletin 70, n.º 4 (julio de 2015): 101–5. http://dx.doi.org/10.3103/s0027133015040056.

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46

Kwon, Jay Hyoun y Christopher Jekeli. "Gravity Requirements for Compensation of Ultra-Precise Inertial Navigation". Journal of Navigation 58, n.º 3 (19 de agosto de 2005): 479–92. http://dx.doi.org/10.1017/s0373463305003395.

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Precision inertial navigation depends not only on the quality of the inertial sensors (accelerometers and gyros), but also on the accuracy of the gravity compensation. With a view toward the next-generation inertial navigation systems, based on sensors whose errors contribute as little as a few metres per hour to the navigation error budget, we have analyzed the required quality of gravity compensation to the navigation solution. The investigation considered a standard compensation method using ground data to predict the gravity vector at altitude for aircraft free-inertial navigation. The navigation effects of the compensation errors were examined using gravity data in two gravimetrically distinct areas and a navigation simulator with parameters such as data noise and resolution, supplemental global gravity model noise, and on-track interpolation method. For a typical flight trajectory at 5 km altitude and 300 km/hr aircraft speed, the error in gravity compensation contributes less than 5 m to the position error after one hour of free-inertial navigation if the ground data are gridded with 2 arcmin resolution and are accurate to better than 5 mGal.

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47

Roberts, Barry y Bir Bhanu. "Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation". Journal of Robotic Systems 9, n.º 6 (septiembre de 1992): 817–42. http://dx.doi.org/10.1002/rob.4620090608.

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48

WANG, HANCHING GRANT y THOMAS C. Williams. "Strategic inertial navigation systems - high-accuracy inertially stabilized platforms for hostile environments". IEEE Control Systems 28, n.º 1 (febrero de 2008): 65–85. http://dx.doi.org/10.1109/mcs.2007.910206.

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49

Shrivastava, N. P. y S. Shrotriya. "Asynchronous Message Transmission Technique for Latency Requirements in Time Critical Ship-borne System". Defence Science Journal 66, n.º 1 (27 de enero de 2016): 26. http://dx.doi.org/10.14429/dsj.66.8502.

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A solution to data ageing requirements in time critical ship system like fire control system is presented. In an operational sea borne platform, navigation requirements for the onboard systems are fulfilled by ring laser gyro-based inertial navigation system. For critical systems like fire control system, navigational data must be delivered in real time without any delay. However due to delay occurring in processing of raw information and transmission of data on interface bus some latency is introduced. Algorithm for an asynchronous message transmission technique from inertial navigation system to user system to meet its latency requirements is discussed. Latency requirement is achieved by sending a separate message with the time stamp for the instance the first byte of 100 Hz attitude data is received at the processing computer of navigation system.Defence Science Journal, Vol. 66, No. 1, January 2016, pp. 26-29, DOI: http://dx.doi.org/10.14429/dsj.66.8502

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50

Larin, Vladimir B. y Anatoliy A. Tunik. "On Correcting the System of Inertial Navigation". Journal of Automation and Information Sciences 42, n.º 8 (2010): 13–26. http://dx.doi.org/10.1615/jautomatinfscien.v42.i8.20.

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