GPS and navigation GPS)، GLONASS، GALILEO
Mohammad Hosein Shafiei; meisam jowkar; Behrooz Safarinejad
Volume 13, Issue 3 , September 2020, , Pages 69-77
Abstract
In this paper a new structure for the inertia measurement unit is presented; the proposed structure consists of three rotary discs around the three main axes in the body, and an accelerometer is mounted on each disc. It is shown in this paper that the proposed structure reduces the effect of disturbing ...
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In this paper a new structure for the inertia measurement unit is presented; the proposed structure consists of three rotary discs around the three main axes in the body, and an accelerometer is mounted on each disc. It is shown in this paper that the proposed structure reduces the effect of disturbing accelerometer parameters, such as constant and variable bias, as well as noise depletion. Due to the proposed rotational structure, it is necessary to continuously sample the accelerometers. In order to use the sampled data, calculations should be performed in discrete mode. In this paper, a method for combining this information is presented. By examining the proposed equations, the successful performance of this method is shown in the reduction of the effect of three constant bias parameters and the bias of the accelerometer and the measured noise. As well as the efficiency of the proposed method for measuring the acceleration of the device using Numerical representation is shown.
Mohammadvali Arbabmir; Masoud Ebrahimi Kachoei
Volume 12, Issue 3 , September 2019, , Pages 43-54
Abstract
In the last decades, the visual navigation system has been investigated by many researchers as an aided navigation system for Inertial Navigation System (INS) in the Unmanned Aerial Vehicles (UAV). In this research, for improving the INS errors a new approach based on feature tracking algorithm is used. ...
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In the last decades, the visual navigation system has been investigated by many researchers as an aided navigation system for Inertial Navigation System (INS) in the Unmanned Aerial Vehicles (UAV). In this research, for improving the INS errors a new approach based on feature tracking algorithm is used. In this approach, in order to estimate the feature points in the current image, the INS states, the feature points of the previous image and dynamic equations are used. Also, in this approach, for improving the estimation of terrain points, the outlier estimated feature points delete. Furthermore, in this article, for improving the altitude error, a barometer is used by the mentioned vision navigation system. The simulation results illustrate the desirable accuracy of the vision system and barometer observations in the update step of Extended Kalman Filter (EKF) and remarkable performance of integrated navigation system for calculating the UAV navigation parameters.
Mehdi Fathi; ali mohammadi; Nemat Ollah Ghahramani
Volume 8, Issue 4 , January 2016, , Pages 45-51
Abstract
In this paper the feasibility of rapid alignment and calibration of a static strapdown inertial navigation system (INS) is evaluated. Resting conditions including zero-velocity update and a known initial heading direction as virtual external measurement data are integrated with INS data. By comparing ...
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In this paper the feasibility of rapid alignment and calibration of a static strapdown inertial navigation system (INS) is evaluated. Resting conditions including zero-velocity update and a known initial heading direction as virtual external measurement data are integrated with INS data. By comparing the virtual external measurements with the estimates of those generated by the aligning INS, estimates of the velocity and heading errors can be obtained and these errors will be propagated in the INS as a result of alignment inaccuracies. An extended Kalman filter based on an augmented process model and a measurement model is designed to estimate alignment attitudes and biases of inertial sensors. Monte Carlo simulation results show that the integration of INS with rest conditions is very effective in rapid and fine leveling and azimuth alignment of INS, but this type of data fusion due to poor acceleration and angular rates of static condition has no chance of valuable calibration of all inertial sensor biases.
Jamal Asgari; Ali Reza Amiri -Simkooei; Farzane Zanganeh-nejad
Volume 5, Issue 3 , October 2012, , Pages 49-57
Abstract
Inertial Navigation System (INS) and Global Positioning System (GPS), are used in various navigation and positioning applications. Because each of the INS and GPS technologies has some limitations and advantages, during last two decades, the systems integration has been widely used for accurate and reliable ...
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Inertial Navigation System (INS) and Global Positioning System (GPS), are used in various navigation and positioning applications. Because each of the INS and GPS technologies has some limitations and advantages, during last two decades, the systems integration has been widely used for accurate and reliable navigation and positioning. In an integrated system, accurate GPS observations are used to estimate the high rate INS errors and state vector (including INS error vector, position, velocity and other optional parameters). A field test results are presented in this paper. The goal of this test is to compare the coordinates of a relatively low cost INS, GPS RTK coordinates, and the integrated GPS/INS results. The decentralized approach has been used for this integration.
