scholarly journals Development of High Precision GPS Aided Inertial Navigation System.

2002 ◽  
Vol 50 (585) ◽  
pp. 416-425 ◽  
Author(s):  
Masatoshi Harigae ◽  
Hiroshi Tomita ◽  
Takeshi Nishizawa
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation

Problem of the Vertical Deflection in High-Precision Inertial Navigation

2020 ◽  
Vol 28 (4) ◽  
pp. 3-15
Author(s):  
V.G. Peshekhonov ◽  
◽  
Keyword(s):  
Systematic Error ◽  
High Precision ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Reference Ellipsoid ◽  
Navigation Systems ◽  
Vertical Deflection ◽  
Inertial Navigation Systems ◽  
Output Data

The paper addresses the systematic error of an inertial navigation system, caused by the discrepancy between the plumb line and the normal to the reference ellipsoid surface. The methods of this discrepancy estimation, and their use for correcting the output data of inertial navigation systems are studied.

scholarly journals Optimization Design Method of a New Stabilized Platform Based on Missile-borne Semi-Strap-down Inertial Navigation System

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4412 ◽  
Author(s):  
Jie Li ◽  
Zhengyao Jing ◽  
Xi Zhang ◽  
Jiayu Zhang ◽  
Jinqiang Li ◽  
...  
Keyword(s):  
Dynamic Model ◽  
High Precision ◽  
Rotational Motion ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Small Range ◽  
Range Sensor ◽  
Wide Range ◽  
Stabilized Platform

At present, existing wide range Micro-Electro-Mechanical-Systems (MEMS) inertial sensors have relatively lower precision and direct measurement of the missile’s high-rotation motion inevitably uses a large-range sensor. To achieve high-precision navigation, this paper proposes a novel Semi-strap-down Stabilized Platform (SSP) based on the Missile-borne Semi-Strap-down Inertial Navigation System, which is used to mount sensors and lowers sensor range requirements through isolating the high-rotational motion of missile. First, the author innovatively puts forward a dynamic model under missile-borne environment, then analyses the influence of SSP quality on the range of gyro according to the dynamic model of the SSP. Finally, when the angle of attack of the missile is 2°, the best quality of the SSP with minimum roll angular rate amplitude was calculated through the Runge-Kutta method and the mass gradient control method. Experiments have been carried out by using a high-precision, tri-axial flight simulation turntable to validate the viability of the method. Experiments show that under the same conditions, the angular velocity of the new optimized SSP with the best quality design is reduced to 1/3 of the unoptimized SSP, and the measured roll angle error is reduced to 60% of the unoptimized measurement. The results indicate that the novel SSP has better performance segregating the high-speed rotational motion, and provides theoretical guidance for the high-precision small-range sensor instead of the low-precision wide-range sensor. In addition, the first proposed SSP quality selection method creates a new idea for the improvement of the positioning accuracy in the missile-borne environment.

High-Precision Kinematic Satellite and Doppler Aided Inertial Navigation System

2010 ◽  
Vol 64 (1) ◽  
pp. 91-108 ◽  
Author(s):  
Ranjan Vepa ◽  
Amzari Zhahir
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Initial Alignment ◽  
Phase Measurements ◽  
Satellite Navigation System

In this paper an adaptive unscented Kalman filter based mixing filter is used to develop a high-precision kinematic satellite aided inertial navigation system with a modern receiver that incorporates carrier phase smoothing and ambiguity resolution. Using carrier phase measurements with multiple antennas, in addition to a set of typical pseudo-range estimates that can be obtained from a satellite navigation system such as GPS or GLONASS, the feasibility of generating high precision estimates of the typical outputs from an inertial navigation system is demonstrated. The methodology may be developed as a stand-alone system or employed in conjunction with a traditional strapped down inertial navigation system for purposes of initial alignment. Moreover the feasibility of employing adaptive mixing facilitates the possibility of using the system in an interoperable fashion with satellite navigation measurements.

Kalman Filter-Based Sensor Fusion for Improving Localization of AGV

2012 ◽  
Vol 488-489 ◽  
pp. 1818-1822 ◽  
Author(s):  
In Seong Lee ◽  
Jae Yong Kim ◽  
Jun Ha Lee ◽  
Jung Min Kim ◽  
Sung Sin Kim
Keyword(s):  
Kalman Filter ◽  
Sensor Fusion ◽  
High Precision ◽  
Navigation System ◽  
High Speed ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Positioning Accuracy ◽  
Global Positioning ◽  
Precision Device

This paper proposes localization using sensor fusion with a laser navigation and an inertial navigation system for indoor mobile. The laser navigation is a device that measures angle and distance between the robot and the reflectors. Although it is the high-precision device for indoor global positioning, there is a problem that the accuracy of laser navigation significantly drops while moving at high speed and rapid turning. To solve this problem, the laser navigation was fused to inertial navigation system through Kalman filter. For experiment, we use omnidirectional robot with Mecanum Wheels and analyze the positioning accuracy according to driving direction of the robot.

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