Pub Date : 2014-09-02DOI: 10.1109/INERTIALSENSORS.2014.7049412
Yuanxin Wu
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained land vehicle navigation using the IMU and an odometer. Specifically, the paper proposes a self-calibration and refinement method for IMU/odometer integration that is able to overcome significant variation of the misalignment parameters, which are induced by many inevitable and adverse factors such as load changing, refueling and ambient temperature. An odometer-aided IMU in-motion alignment algorithm is also devised that enables the first-responsive functionality even when the vehicle is running freely. The versatile strategy is successfully demonstrated and verified via long-distance real tests.
{"title":"Versatile land navigation using inertial sensors and odometry: Self-calibration, in-motion alignment and positioning","authors":"Yuanxin Wu","doi":"10.1109/INERTIALSENSORS.2014.7049412","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049412","url":null,"abstract":"Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained land vehicle navigation using the IMU and an odometer. Specifically, the paper proposes a self-calibration and refinement method for IMU/odometer integration that is able to overcome significant variation of the misalignment parameters, which are induced by many inevitable and adverse factors such as load changing, refueling and ambient temperature. An odometer-aided IMU in-motion alignment algorithm is also devised that enables the first-responsive functionality even when the vehicle is running freely. The versatile strategy is successfully demonstrated and verified via long-distance real tests.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127486300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049406
S. Zotov, I. Prikhodko, B. Simon, A. Trusov, A. Shkel
This paper reports our cumulative progress toward the development of a gyroscope with two interchangeable modes of operation: an Amplitude Modulated (AM) mode, for a precision measurement in more conventional ranges (~300 deg/sec) and a Frequency Modulated (FM) mode, for an expanded range of operation (over 300 deg/sec and as high as 18,000 deg/sec). We demonstrate that the implemented self-calibration algorithms for AM detection effectively remove the rate random walk, allowing for a highly stable in-run bias. The FM approach is based on tracking the resonant frequency split between two, high Q-factor mechanical modes of a gyroscope, providing a frequency-based measurement of the input angular rate. Temperature characterization of the FM gyroscope exhibited less than 0.2 % variation of the angular rate response between a temperature range of 25 °C and 70 °C. This characteristics is shown to be enabled by the self-calibration capability of differential frequency detection. Measured Allan deviation of the FM gyroscope demonstrated a bias instability of 0.5 7hr and an Angle Random Walk (ARW) of 0.08 °/√hr. Rate table characterization of the gyroscope in FM operational mode demonstrated a linear range of 18,000 7s, representing a dynamic range of 160 dB. In the conventional AM mode, the gyroscope experimentally demonstrated a 0.1 7hr bias instability after implementation of the temperature self-sensing calibration algorithm. Thus, the interchangeable operation of the QMG transducer provides a measured 176 dB dynamic range, making the same high-Q mechanical structure suitable for demanding high precision and wide input range applications.
{"title":"Self-calibrated MEMS gyroscope with AM/FM operational modes, dynamic range of 180 dB and in-run bias stability of 0.1 deg/hr","authors":"S. Zotov, I. Prikhodko, B. Simon, A. Trusov, A. Shkel","doi":"10.1109/INERTIALSENSORS.2014.7049406","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049406","url":null,"abstract":"This paper reports our cumulative progress toward the development of a gyroscope with two interchangeable modes of operation: an Amplitude Modulated (AM) mode, for a precision measurement in more conventional ranges (~300 deg/sec) and a Frequency Modulated (FM) mode, for an expanded range of operation (over 300 deg/sec and as high as 18,000 deg/sec). We demonstrate that the implemented self-calibration algorithms for AM detection effectively remove the rate random walk, allowing for a highly stable in-run bias. The FM approach is based on tracking the resonant frequency split between two, high Q-factor mechanical modes of a gyroscope, providing a frequency-based measurement of the input angular rate. Temperature characterization of the FM gyroscope exhibited less than 0.2 % variation of the angular rate response between a temperature range of 25 °C and 70 °C. This characteristics is shown to be enabled by the self-calibration capability of differential frequency detection. Measured Allan deviation of the FM gyroscope demonstrated a bias instability of 0.5 7hr and an Angle Random Walk (ARW) of 0.08 °/√hr. Rate table characterization of the gyroscope in FM operational mode demonstrated a linear range of 18,000 7s, representing a dynamic range of 160 dB. In the conventional AM mode, the gyroscope experimentally demonstrated a 0.1 7hr bias instability after implementation of the temperature self-sensing calibration algorithm. Thus, the interchangeable operation of the QMG transducer provides a measured 176 dB dynamic range, making the same high-Q mechanical structure suitable for demanding high precision and wide input range applications.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117255608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049480
Bo Xu, Jinlei Bai, Guochen Wang, Zhuo Zhang, Weiquan Huang
As one of the most promising research direction, cooperative location with high precision and low-cost IMU is becoming an emerging research topic in many positioning fields. Low-cost MEMS/DVL is a preferred solution for dead-reckoning in multi-USV cooperative network. However, large misalignment angles and large gyro drift coexist in low-cost MEMS that lead to the poor observability. Based on UKF, that access to high accuracy and relative small computation, dual-model filtering scheme is proposed. It divides the whole process into two subsections that cut off the coupling relations and improve the observability of MEMS errors: first estimates large misalignment angle and then estimates the gyro drift. Furthermore, to improve the convergence speed of large misalignment angle estimated in the first subsection, "time reversion" concept is introduced. It uses a short period time to forward and backward several times to shorten estimation time effectively. Finally, simulation results show that the algorithm can effectively improve the cooperative navigation performance.
{"title":"Cooperative navigation and localization for unmanned surface vessel with low-cost sensors","authors":"Bo Xu, Jinlei Bai, Guochen Wang, Zhuo Zhang, Weiquan Huang","doi":"10.1109/INERTIALSENSORS.2014.7049480","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049480","url":null,"abstract":"As one of the most promising research direction, cooperative location with high precision and low-cost IMU is becoming an emerging research topic in many positioning fields. Low-cost MEMS/DVL is a preferred solution for dead-reckoning in multi-USV cooperative network. However, large misalignment angles and large gyro drift coexist in low-cost MEMS that lead to the poor observability. Based on UKF, that access to high accuracy and relative small computation, dual-model filtering scheme is proposed. It divides the whole process into two subsections that cut off the coupling relations and improve the observability of MEMS errors: first estimates large misalignment angle and then estimates the gyro drift. Furthermore, to improve the convergence speed of large misalignment angle estimated in the first subsection, \"time reversion\" concept is introduced. It uses a short period time to forward and backward several times to shorten estimation time effectively. Finally, simulation results show that the algorithm can effectively improve the cooperative navigation performance.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124664941","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049473
C. Blum, B. Braun, J. Dambeck, M. Kagi
In early 2015 an inertial laboratory will be installed at TUM's Institute of Flight System Dynamics (FSD). In cooperation with ACUTRONIC Switzerland Ltd. an AC3350 three-axis motion simulator will be used to investigate inertial sensor calibration techniques, as well as error influences of the whole laboratory environment. To identify and assess possible influences on the laboratory's quality a simulation of the whole calibration process, including error models of the laboratory environment, the motion simulator and the unit under test has been created. The article presents an overview of identified error sources in the inertial sensor calibration process. Typical error sources are discussed exemplarily for the future Inertial Laboratory. Finally the influence of these errors on a symmetric six-pose calibration process is illustrated using preliminary simulation results.
{"title":"Inertial laboratory simulation","authors":"C. Blum, B. Braun, J. Dambeck, M. Kagi","doi":"10.1109/INERTIALSENSORS.2014.7049473","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049473","url":null,"abstract":"In early 2015 an inertial laboratory will be installed at TUM's Institute of Flight System Dynamics (FSD). In cooperation with ACUTRONIC Switzerland Ltd. an AC3350 three-axis motion simulator will be used to investigate inertial sensor calibration techniques, as well as error influences of the whole laboratory environment. To identify and assess possible influences on the laboratory's quality a simulation of the whole calibration process, including error models of the laboratory environment, the motion simulator and the unit under test has been created. The article presents an overview of identified error sources in the inertial sensor calibration process. Typical error sources are discussed exemplarily for the future Inertial Laboratory. Finally the influence of these errors on a symmetric six-pose calibration process is illustrated using preliminary simulation results.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129604901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049481
A. Rossi, M. Pasquali, M. Pastore
Autonomy and high accuracy are fundamental for underwater navigation. For this reason, new inertial algorithms are under intensive investigation to improve the performances. In this paper, we present the INS/DVL calibration algorithm developed by GEM Elettronica for underwater applications. With this procedure, we improve the sensor data fusion between our unit, Doppler Velocity Log (DVL) and the GNSS receiver, moving along a well-defined trajectory. Acquired experimental data validate our simulation model, confirming our previously supposed results.
{"title":"Performance analysis of an inertial navigation algorithm with DVL auto-calibration for underwater vehicle","authors":"A. Rossi, M. Pasquali, M. Pastore","doi":"10.1109/INERTIALSENSORS.2014.7049481","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049481","url":null,"abstract":"Autonomy and high accuracy are fundamental for underwater navigation. For this reason, new inertial algorithms are under intensive investigation to improve the performances. In this paper, we present the INS/DVL calibration algorithm developed by GEM Elettronica for underwater applications. With this procedure, we improve the sensor data fusion between our unit, Doppler Velocity Log (DVL) and the GNSS receiver, moving along a well-defined trajectory. Acquired experimental data validate our simulation model, confirming our previously supposed results.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130381373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049478
B. Al-Qudsi, E. Edwan, N. Joram, F. Ellinger
The aim of this research paper is to explore the feasibility of integrating an inertial measurement unit (IMU) with a frequency-modulated continuous wave (FMCW)-based local positioning system (LPS) to mitigate the effects of multipath bias in highly reflective indoor scenarios. The LPS uses a time difference of arrival (TDOA) positioning scheme. The IMU consists of accelerometer and gyroscope triads. Using a proper integration algorithm combined with a zero-velocity update (ZUPT) technique, a mitigation of about 40% is achieved in terms of the overall LPS position absolute error.
{"title":"INS/FMCW radar integrated local positioning system","authors":"B. Al-Qudsi, E. Edwan, N. Joram, F. Ellinger","doi":"10.1109/INERTIALSENSORS.2014.7049478","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049478","url":null,"abstract":"The aim of this research paper is to explore the feasibility of integrating an inertial measurement unit (IMU) with a frequency-modulated continuous wave (FMCW)-based local positioning system (LPS) to mitigate the effects of multipath bias in highly reflective indoor scenarios. The LPS uses a time difference of arrival (TDOA) positioning scheme. The IMU consists of accelerometer and gyroscope triads. Using a proper integration algorithm combined with a zero-velocity update (ZUPT) technique, a mitigation of about 40% is achieved in terms of the overall LPS position absolute error.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131554802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049405
A. Malvern, P. Collins
UTC Aerospace Systems (UTAS) has developed a family of high performance open loop accelerometers, which, branded under the name "Gemini", aim to meet the needs of aerospace and commercial applications. There are five different acceleration ranges in the family: 0.85g, 2g, 10g, 30g and 96g. The sensor is manufactured and marketed by Silicon Sensing Systems Limited (SSSL). It comprises a silicon MEMS (Micro-Electro-Mechanical System) structure providing two in-plane axes of sensing fabricated using deep reactive ion etching (DRIE). The silicon MEMS is in the form of a lower glass layer, a silicon sensing layer and an upper glass layer. The glass layers are anodically bonded to the silicon layer to form a hermetic assembly. The manufacturing process and equipment used for these accelerometers has been proven over many years by Silicon Sensing Systems Limited in their MEMS gyro production. Differential capacitance sensing, provided by an asymmetric gap between two sets of interdigitated fingers with a fixed set and a moving set, is at the heart of the design. This provides the electrical output. The hermetic sealed structure is backfilled with atmospheric pressure gas giving near critical air squeeze film damping for all variants of the MEMS. This has the linearity characteristic of a differential capacitance and can be modelled to high precision using low order polynomials. The resonant frequency of the MEMS is selected to suit the operational `g' range with three different MEMS designs covering the five `g' ranges. This is packaged with a mixed signal ASIC to provide an analogue output and a digital output via a SPI bus.
联合技术航空航天系统公司(UTAS)开发了一系列高性能开环加速度计，其品牌名为“双子座”，旨在满足航空航天和商业应用的需求。该系列有五种不同的加速范围:0.85g, 2g, 10g, 30g和96g。该传感器由Silicon Sensing Systems Limited (SSSL)制造和销售。它包括一个硅MEMS(微机电系统)结构，提供两个平面内传感轴，采用深度反应离子蚀刻(DRIE)制造。硅MEMS采用下玻璃层、硅传感层和上玻璃层的形式。所述玻璃层以阳极方式连接到所述硅层以形成密封组件。硅传感系统有限公司在其MEMS陀螺仪生产中多年来已经证明了这些加速度计的制造工艺和设备。差分电容感应是设计的核心，由两组固定和移动手指之间的不对称间隙提供。这提供了电力输出。密封结构回填常压气体，为所有MEMS变体提供接近临界的空气挤压膜阻尼。这具有差分电容的线性特性，可以使用低阶多项式进行高精度建模。MEMS的谐振频率选择以适应工作' g'范围，三种不同的MEMS设计涵盖了五个' g'范围。这是一个混合信号ASIC封装，通过SPI总线提供模拟输出和数字输出。
{"title":"High performance MEMS accelerometer (Gemini accelerometer)","authors":"A. Malvern, P. Collins","doi":"10.1109/INERTIALSENSORS.2014.7049405","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049405","url":null,"abstract":"UTC Aerospace Systems (UTAS) has developed a family of high performance open loop accelerometers, which, branded under the name \"Gemini\", aim to meet the needs of aerospace and commercial applications. There are five different acceleration ranges in the family: 0.85g, 2g, 10g, 30g and 96g. The sensor is manufactured and marketed by Silicon Sensing Systems Limited (SSSL). It comprises a silicon MEMS (Micro-Electro-Mechanical System) structure providing two in-plane axes of sensing fabricated using deep reactive ion etching (DRIE). The silicon MEMS is in the form of a lower glass layer, a silicon sensing layer and an upper glass layer. The glass layers are anodically bonded to the silicon layer to form a hermetic assembly. The manufacturing process and equipment used for these accelerometers has been proven over many years by Silicon Sensing Systems Limited in their MEMS gyro production. Differential capacitance sensing, provided by an asymmetric gap between two sets of interdigitated fingers with a fixed set and a moving set, is at the heart of the design. This provides the electrical output. The hermetic sealed structure is backfilled with atmospheric pressure gas giving near critical air squeeze film damping for all variants of the MEMS. This has the linearity characteristic of a differential capacitance and can be modelled to high precision using low order polynomials. The resonant frequency of the MEMS is selected to suit the operational `g' range with three different MEMS designs covering the five `g' ranges. This is packaged with a mixed signal ASIC to provide an analogue output and a digital output via a SPI bus.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129132645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049408
J. Beitia, C. Fell, I. Okon, P. Sweeney
Low-cost accurate orientation as required for targeting, pointing and personal navigation is generally obtained by using FOGs (Fibre Optical Gyros) and DTGs (Dynamically Tuned Gyros). When considering the alignment time and the complexity of the system, those gyros within strapdown systems have shown themselves to be particularly relevant and today numerous systems are operated this way. However, reliability and cost are still two key drivers and new applications are seeking alternatives which are more cost effective. In spite of the emergence of Vibratory Gyros Technology, as illustrated by the high grade Hemispherical Resonator Gyro (HRG), the cost for 1 mrad accuracy is still high which prevents the effective deployment across the civilian market of accurate True North-Finders (TNF) and pointing systems. INNALABS Ltd has risen to the challenge and has developed a low-cost CVG (Coriolis Vibratory Gyroscope) able to meet the market demand for low-cost accurate TNF and pointing systems. Although the INNALABS' CVG has been developed primarily for stabilisation control systems and tactical grade systems, some specific refinements of the control loop electronics are leading to few 0.01 °/hr bias stability and ARW better than 0.01 °/√hr as required for 1 mrad accuracy. Statistical data on key performance characteristics will be presented including the bias stability and the output noise. As an example of a practical implementation, the 2 position method for True North measurement will be described with a result consistent with 1 mrad heading accuracy. This underlines the capability of INNALABS' technology of branching into the TNF and the pointing market segments.
{"title":"Low cost CVG for high-grade north finders and targeting systems","authors":"J. Beitia, C. Fell, I. Okon, P. Sweeney","doi":"10.1109/INERTIALSENSORS.2014.7049408","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049408","url":null,"abstract":"Low-cost accurate orientation as required for targeting, pointing and personal navigation is generally obtained by using FOGs (Fibre Optical Gyros) and DTGs (Dynamically Tuned Gyros). When considering the alignment time and the complexity of the system, those gyros within strapdown systems have shown themselves to be particularly relevant and today numerous systems are operated this way. However, reliability and cost are still two key drivers and new applications are seeking alternatives which are more cost effective. In spite of the emergence of Vibratory Gyros Technology, as illustrated by the high grade Hemispherical Resonator Gyro (HRG), the cost for 1 mrad accuracy is still high which prevents the effective deployment across the civilian market of accurate True North-Finders (TNF) and pointing systems. INNALABS Ltd has risen to the challenge and has developed a low-cost CVG (Coriolis Vibratory Gyroscope) able to meet the market demand for low-cost accurate TNF and pointing systems. Although the INNALABS' CVG has been developed primarily for stabilisation control systems and tactical grade systems, some specific refinements of the control loop electronics are leading to few 0.01 °/hr bias stability and ARW better than 0.01 °/√hr as required for 1 mrad accuracy. Statistical data on key performance characteristics will be presented including the bias stability and the output noise. As an example of a practical implementation, the 2 position method for True North measurement will be described with a result consistent with 1 mrad heading accuracy. This underlines the capability of INNALABS' technology of branching into the TNF and the pointing market segments.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"794 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114337592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049477
E. D. Bokhman, A. Boronachin, Y. Filatov, D. Larionov, L. Podgornaya, R. V. Shalymov, G. N. Zuzev
The paper presents the results of development of the Optical-lnertial System for Railway Track Diagnostics. It is demonstrated that in order to implement the solution at a speed of up to 430 kmph (used for example in South Korean high-speed train HEMU-430X, standing for High-Speed Electric Multiple Unit 430 km/h experimental) while satisfying the accuracy of 0.1...0.5 mm during measurement of longitudinal level, cross level, twist, curvature, rail profile, etc., it is needed to combine the optical scanners of the inner profile of the rail line with the strapdown inertial navigation system (SINS) in a single block. Supplying of odometer and Global navigation satellite system receiver (GNSS) into the system structure allows to determine measurement point position. Thanks to our a priori knowledge of the semipermanent nature of the railway track, and also to the fusion of the odometer data and satellite navigation system reception equipment data, it is possible to use fiber-optic gyros as the sensitive units of the SINS (both open-loop and closed-loop configurations of FOG can be used). The distinctive feature of the system's algorithm is that it solves both the navigation/orientation task (i.e. it fuses odometer data, satellite navigation system data and inertial navigation system data), and the task of measuring the inner surface profile of the rail line. The use of a sole odometer to localize the found rail flaws does not provide satisfactory results because of its errors. Integration of the odometer, SINS and GNSS receiver data offers highly accurate referencing of diagnostic results to the traversed track coordinate. Odometer readings are updated using the navigation system data. The system provides measuring of the track geometry and accurate localization of the measurement point using the geographical coordinates (latitude and longitude) and orientation parameters (roll, pitch and course angle). The possibility of using SINS based on fiber-optic gyros (FOG) for railway applications is considered in the article. Some practical results are given.
{"title":"Optical-inertial system for railway track diagnostics","authors":"E. D. Bokhman, A. Boronachin, Y. Filatov, D. Larionov, L. Podgornaya, R. V. Shalymov, G. N. Zuzev","doi":"10.1109/INERTIALSENSORS.2014.7049477","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049477","url":null,"abstract":"The paper presents the results of development of the Optical-lnertial System for Railway Track Diagnostics. It is demonstrated that in order to implement the solution at a speed of up to 430 kmph (used for example in South Korean high-speed train HEMU-430X, standing for High-Speed Electric Multiple Unit 430 km/h experimental) while satisfying the accuracy of 0.1...0.5 mm during measurement of longitudinal level, cross level, twist, curvature, rail profile, etc., it is needed to combine the optical scanners of the inner profile of the rail line with the strapdown inertial navigation system (SINS) in a single block. Supplying of odometer and Global navigation satellite system receiver (GNSS) into the system structure allows to determine measurement point position. Thanks to our a priori knowledge of the semipermanent nature of the railway track, and also to the fusion of the odometer data and satellite navigation system reception equipment data, it is possible to use fiber-optic gyros as the sensitive units of the SINS (both open-loop and closed-loop configurations of FOG can be used). The distinctive feature of the system's algorithm is that it solves both the navigation/orientation task (i.e. it fuses odometer data, satellite navigation system data and inertial navigation system data), and the task of measuring the inner surface profile of the rail line. The use of a sole odometer to localize the found rail flaws does not provide satisfactory results because of its errors. Integration of the odometer, SINS and GNSS receiver data offers highly accurate referencing of diagnostic results to the traversed track coordinate. Odometer readings are updated using the navigation system data. The system provides measuring of the track geometry and accurate localization of the measurement point using the geographical coordinates (latitude and longitude) and orientation parameters (roll, pitch and course angle). The possibility of using SINS based on fiber-optic gyros (FOG) for railway applications is considered in the article. Some practical results are given.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127170010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049407
I. Partzsch, G. Forster, O. Michler
Inertial signals, that is to say accelerations, vibrations and rotations, are gaining more and more importance in navigation applications as they may contribute to motion state estimation. Such motion states may also assist navigation processes in finding a stable navigation solution. Prior to the market introduction of such navigation applications or other Location Based Services (LBS), a variety of tests has to be carried out. As tests in real traffic systems are time consuming and neither repeatable nor representative, it is desirable to create a laboratory environment in which navigation signals and the whole usage process are reproducible. Thereby, standardised navigation scenarios can be simulated repeatedly including all relevant navigation (GNSS, Wi-Fi, INS) and communication (GSM, protocol data) signals. This conference contribution focuses on the recording and replaying of low-frequency (LF)-signals as a basis for reproducible laboratory tests for inertial signals. The signals can be recorded by high-precision sensors and replayed in a laboratory. The paper will present the technical set-up for such reproducible tests and how those tests will be realised in the context of the BMWi-funded project NADINE. Within this project, a ticket-sensitive door-to-door navigation will be developed using a hybrid localisation approach which combines GNSS, Wi-Fi, and inertial signals.
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