scholarly journals Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3083
Author(s):  
Donghui Lyu ◽  
Jiongqi Wang ◽  
Zhangming He ◽  
Yuyun Chen ◽  
Bowen Hou
Keyword(s):  
Navigation System ◽  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Inertial Navigation ◽  
Inertial System ◽  
New Information ◽  
System Output ◽  
Navigation Method ◽  
Navigation Scheme

As a new information provider of autonomous navigation, the on-orbit landmark observation offers a new means to improve the accuracy of autonomous positioning and attitude determination. A novel autonomous navigation method based on the landmark observation and the inertial system is designed to achieve the high-accuracy estimation of the missile platform state. In the proposed method, the navigation scheme is constructed first. The implicit observation equation about the deviation of the inertial system output is derived and the Kalman filter is applied to estimate the missile platform state. Moreover, the physical observability of the landmark and the mathematical observability of the navigation system are analyzed. Finally, advantages of the proposed autonomous navigation method are demonstrated through simulations compared with the traditional celestial-inertial navigation system and the deeply integrated celestial-inertial navigation system.

scholarly journals Individual Autonomous Navigation System

2017 ◽  
Vol 2017 (3) ◽  
pp. 84-106
Author(s):  
Stanisław Popowski ◽  
Witold Dąbrowski
Keyword(s):  
Navigation System ◽  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Vertical Channel ◽  
Walking Test ◽  
Basic Assumptions ◽  
Autonomous Functioning ◽  
The Individual ◽  
Navigation Errors

Abstract The article presents the Individual Autonomous System Navigation (IANS) supporting–rescuer or firemen in terms of navigation. Basic assumptions, which such a system has to fulfill in terms of functionality and accuracy, are presented. The concept of the ISAN system is based on the implementation of inertial navigation system which the only one to permit fully autonomous functioning. Measurement sensors of the navigation system with microprocessor board are placed in the rescuer’s shoe. To limit the escalation of the navigation errors value, which in the case of inertial navigation rises exponentially, a procedure of navigation parameters upgrading at every step of the rescuer is introduced to the proposed system. This procedure guarantees the required accuracy of navigation achievement. The article describes a developed and manufactured demonstrator of the technology and presents main results of its research. The research conducted in a building consisted in walking on the same level several hundred meters in less than 10 minutes. A walking test with a change of walking height was also performed in order to estimate the accuracy of the vertical channel. Results of the demonstrator’s tests let us conclude that the error of navigation is below 1% of the travelled distance and the accuracy is linear in respect to time. The achieved accuracy is fully sufficient for a practical IANS application.

Ocean Vehicle Inertial Navigation Method based on Dynamic Constraints

2018 ◽  
Vol 71 (6) ◽  
pp. 1553-1566
Author(s):  
Jiazhen Lu ◽  
Lili Xie
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
External Support ◽  
External Information ◽  
Identification Algorithm ◽  
Dynamic Identification ◽  
Dynamic Constraints ◽  
Attitude Error ◽  
Navigation Method

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced.

1974 TEST OF LACOSTE AND ROMBERG INERTIAL NAVIGATION SYSTEM

Geophysics ◽  
1977 ◽  
Vol 42 (3) ◽  
pp. 594-601 ◽  
Author(s):  
Lucien J. B. LaCoste
Keyword(s):  
Gulf Of Mexico ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
The Other ◽  
Inertial System ◽  
Oil Exploration ◽  
Satellite Information ◽  
Made In

In mid-1974 a test was made in the Gulf of Mexico of a LaCoste and Romberg inertial system for the measurement of the Eötvös correction for shipboard gravity meters. Since the system is designed for operation with satellite navigation, inertial velocities were updated at 2- to 3-hour intervals, using Lorac information because no satellite information was available. Two types of comparison were made between the inertial and Lorac data. One comparison was the rms difference between results from the two methods—0.46 knot, which corresponds to 3.0 mgal at a latitude of 30 degrees. The other comparison related to noise which could be mistaken for anomalies of interest in oil exploration. The comparison indicated that such noise in the inertial data was only about one third that in the Lorac data.

scholarly journals Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4568 ◽  
Author(s):  
Haiyan Qiao ◽  
Meng Liu ◽  
Hao Meng ◽  
Mengjun Wang ◽  
Wei Ke
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Alignment Accuracy ◽  
Model Errors ◽  
Velocity Modeling ◽  
High Level ◽  
Strapdown Inertial Navigation

This paper derives an improved multistage in-motion attitude determination alignment (IMADA) for strapdown inertial navigation system, which integrates the traditional IMADA and the designed dual velocity-modeling IMADA, as well as the multiple repeated alignment process, to address the principled model errors and the calculation errors of traditional V b -aided IMADA. With the proposed algorithm, not only the designed drawbacks of traditional V b -based IMADA can be solved, but also the degradation phenomenon of high-level alignment for multistage IMADA would be largely less. Moreover, the degradation of the alignment accuracy with the vehicle velocity is also removed. Finally, the 30 groups of car-mounted experiments and the Monte Carlo simulation experiments with the navigation-grade SINS are carried out to demonstrate the validity of the proposed algorithm. The results show that the number of the heading degradation of the second-level alignment is reduced to 10 as compared the traditional number 20. Moreover, the alignment accuracy of heading is improved by 23%. Even with the different speeds of 20 m/s, 60 m/s, 80 m/s, the heading alignment accuracies are 1.3063°, 1.3102°, 1.3564° and are still almost the same.

Integrated navigation method based on inertial navigation system and Lidar

2016 ◽  
Vol 55 (4) ◽  
pp. 044102 ◽  
Author(s):  
Xiaoyue Zhang ◽  
Haitao Shi ◽  
Jianye Pan ◽  
Chunxi Zhang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Navigation Method

scholarly journals Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yang Bo ◽  
Yang Xiaogang ◽  
Qu Geping ◽  
Wang Yongjun
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Star Sensor ◽  
Integrated Navigation ◽  
Measurement Equation ◽  
Navigation Method ◽  
Better Than ◽  
Attitude Matrix

A method of accurate integrated navigation for high-altitude aerocraft by medium precision strapdown inertial navigation system (SINS), star sensor, and global navigation satellite system (GNSS) is researched in this paper. The system error sources of SINS and star sensor are analyzed and modeled, and then system errors of SINS and star sensor are chosen as system states of integrated navigation. Considering that the output of star sensor is attitude quaternion, it can be regarded as an attitude matrix, then the equivalent attitude matrix is constructed by using the output of SINS, and the calculating equation of the equivalent attitude matrix is designed. Thus, one of the measurements of integrated navigation can be constructed by using the equivalent attitude matrix and the attitude matrix output of star sensor. According to the constraint conditions of the attitude matrix, the diagonal elements are selected as one of the measurements of integrated navigation, and the corresponding measurement equation is derived. At the same time, the velocity output and position output difference between SINS and GNSS is selected as the other measurement, and the corresponding measurement equation is also derived. On this basis, the Kalman filter is used to design an integrated navigation filtering algorithm. Simulation results show that although the medium precision SINS is used, the heading accuracy of this integrated navigation method is better than ±1.5′, the pitch and roll accuracy are better than ±0.9’, the velocity accuracy is better than ±0.05 m/s, and the position accuracy is better than ±3.8 m. Therefore, the integrated navigation effect is very significant.

scholarly journals SINS/Landmark Integrated Navigation Based on Landmark Attitude Determination

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2917
Author(s):  
Shuqing Xu ◽  
Haiyin Zhou ◽  
Jiongqi Wang ◽  
Zhangming He ◽  
Dayi Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Attitude Determination ◽  
Feature Matching ◽  
Integrated Navigation ◽  
Basic Scheme ◽  
Integrated Navigation System ◽  
Celestial Navigation ◽  
Landmark Navigation ◽  
Navigation Method

Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.

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