Pub Date : 2014-09-01DOI: 10.1109/INERTIALSENSORS.2014.7049411
F. Guattari, S. Chouvin, C. Moluçon, H. Lefèvre
As it is well-known, a fiber-optic gyroscope uses a broadband source which drastically reduces coherence-related noises and drifts, but such a source suffers from excess relative intensity noise (excess RIN) because of the random beating between all its frequency components. The power spectral density (PSDrin) of this excess RIN is simply the inverse of the frequency spectrum width (ΔfSource): PSDRIN=1/ΔfSource. An erbium-doped fiber source used in high-performance fiber gyros has a typical width of 1 THz, i.e. a PSDrin = 10-12/Hz, whilst the associated theoretical photon noise limit is potentially 2 orders of magnitude below : PSDPHot = 10-14/Hz. However, excess RIN that limits the ARW (angular random walk) of the gyro, can be compensated for by detecting part of the input power and subtracting its associated noise from the one of the signal power which is correlated. This is classically performed with two detectors and an electronic subtraction, taking into account the delay τ between the reference input power and the noisy output signal, due to propagation through the sensing coil. As it is well-known too, the biasing modulation-demodulation of a fiber gyro is performed at the so-called proper frequency fp = 1/2τ, i.e. τ is equal to half the period 1/fp. The excess RIN has to be reduced only at this operating frequency and this can be performed by a simple addition of the input power and the output signal: to subtract with compensation of the delay τ is actually equivalent to add without delay compensation at this operating frequency fp. It is just a delay line filter! Such a summation can be simply done optically with a single detector and a single demodulation chain: part of the input power is tapped out and recombined with the output signal power. We first implement this idea by combining the input reference and the signal output with the same state of polarization but with a disappointing result. It was analyzed as an interference filtering process of the frequency components of the excess RIN with a theoretical improvement limited to 3 dB in PSD, i.e. only 1.4-fold in rms noise. The question being how to sum two optical powers without interference, the solution is simply to add both powers with orthogonal states of polarization! The experimental result is quite interesting since the ARW can be improved almost down to the theoretical photon noise limit : gyro axis using a coil of 1 km length and 10 cm diameter and having a usual ARW of 1400 microdegrees/root hour exhibited "with adequate tuning" an ARW of 350 microdegrees/root hour, i. e. an interferometric phase noise of 1.5 × 10-7 rad/√Hz, whilst the excess source RIN is 10-6/√Hz. This result is confirmed with a noise measurement using an electronic spectrum analyzer which shows clearly the periodic sine response of a delay line filter.
{"title":"A simple optical technique to compensate for excess RIN in a fiber-optic gyroscope","authors":"F. Guattari, S. Chouvin, C. Moluçon, H. Lefèvre","doi":"10.1109/INERTIALSENSORS.2014.7049411","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049411","url":null,"abstract":"As it is well-known, a fiber-optic gyroscope uses a broadband source which drastically reduces coherence-related noises and drifts, but such a source suffers from excess relative intensity noise (excess RIN) because of the random beating between all its frequency components. The power spectral density (PSDrin) of this excess RIN is simply the inverse of the frequency spectrum width (ΔfSource): PSDRIN=1/ΔfSource. An erbium-doped fiber source used in high-performance fiber gyros has a typical width of 1 THz, i.e. a PSDrin = 10-12/Hz, whilst the associated theoretical photon noise limit is potentially 2 orders of magnitude below : PSDPHot = 10-14/Hz. However, excess RIN that limits the ARW (angular random walk) of the gyro, can be compensated for by detecting part of the input power and subtracting its associated noise from the one of the signal power which is correlated. This is classically performed with two detectors and an electronic subtraction, taking into account the delay τ between the reference input power and the noisy output signal, due to propagation through the sensing coil. As it is well-known too, the biasing modulation-demodulation of a fiber gyro is performed at the so-called proper frequency fp = 1/2τ, i.e. τ is equal to half the period 1/fp. The excess RIN has to be reduced only at this operating frequency and this can be performed by a simple addition of the input power and the output signal: to subtract with compensation of the delay τ is actually equivalent to add without delay compensation at this operating frequency fp. It is just a delay line filter! Such a summation can be simply done optically with a single detector and a single demodulation chain: part of the input power is tapped out and recombined with the output signal power. We first implement this idea by combining the input reference and the signal output with the same state of polarization but with a disappointing result. It was analyzed as an interference filtering process of the frequency components of the excess RIN with a theoretical improvement limited to 3 dB in PSD, i.e. only 1.4-fold in rms noise. The question being how to sum two optical powers without interference, the solution is simply to add both powers with orthogonal states of polarization! The experimental result is quite interesting since the ARW can be improved almost down to the theoretical photon noise limit : gyro axis using a coil of 1 km length and 10 cm diameter and having a usual ARW of 1400 microdegrees/root hour exhibited \"with adequate tuning\" an ARW of 350 microdegrees/root hour, i. e. an interferometric phase noise of 1.5 × 10-7 rad/√Hz, whilst the excess source RIN is 10-6/√Hz. This result is confirmed with a noise measurement using an electronic spectrum analyzer which shows clearly the periodic sine response of a delay line filter.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"12 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":"127730538","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.2014.7049475
T. Martin, U. Probst, H. Fischer, J. Straub-Kalthoff, U. Herberth
This paper deals with integrated navigation systems and their simulation. A simulation tool chain for integrated or multi-sensor navigation systems will be presented. Design, testing, performance analysis as well as verification and validation of integrated navigation systems can be supported through the simulation tools. To demonstrate the simulation environment, this paper uses a tightly integrated GPS/inertial system with a star tracker as additional orientation aid.
{"title":"Simulation tool chain for multi-sensor navigation filters","authors":"T. Martin, U. Probst, H. Fischer, J. Straub-Kalthoff, U. Herberth","doi":"10.1109/INERTIALSENSORS.2014.7049475","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049475","url":null,"abstract":"This paper deals with integrated navigation systems and their simulation. A simulation tool chain for integrated or multi-sensor navigation systems will be presented. Design, testing, performance analysis as well as verification and validation of integrated navigation systems can be supported through the simulation tools. To demonstrate the simulation environment, this paper uses a tightly integrated GPS/inertial system with a star tracker as additional orientation aid.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"158 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":"125781989","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.2014.7049409
G. Remillieux, F. Delhaye
In the early 90's, the concepts chosen by Sagem for his future CVG (Coriolis Vibrating Gyros) developments were based upon three main key principles: · An axisymmetric resonator · A finely balanced resonator · A Whole Angle mode of control. After more than two decades of experience, these visionary choices have proven to be well-grounded. They led to continuous improvement of the company know-how for the benefit of the performances. Associated with the ever-increasing computing power of microcontrollers, it is even possible to continue to improve the performances of the early versions of the Sagem CVGs. The paper shows how these main principles have been applied to Quapason™, to HRG and more recently to advanced high performance MEMS gyro and presents the more recent tests result obtained. The high versatility of the CVG concept is shown through a description of typical applications relying on its key characteristics.
{"title":"Sagem Coriolis Vibrating Gyros: A vision realized","authors":"G. Remillieux, F. Delhaye","doi":"10.1109/INERTIALSENSORS.2014.7049409","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049409","url":null,"abstract":"In the early 90's, the concepts chosen by Sagem for his future CVG (Coriolis Vibrating Gyros) developments were based upon three main key principles: · An axisymmetric resonator · A finely balanced resonator · A Whole Angle mode of control. After more than two decades of experience, these visionary choices have proven to be well-grounded. They led to continuous improvement of the company know-how for the benefit of the performances. Associated with the ever-increasing computing power of microcontrollers, it is even possible to continue to improve the performances of the early versions of the Sagem CVGs. The paper shows how these main principles have been applied to Quapason™, to HRG and more recently to advanced high performance MEMS gyro and presents the more recent tests result obtained. The high versatility of the CVG concept is shown through a description of typical applications relying on its key characteristics.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"86 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":"125846221","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.2014.7049476
Renda Lei, Du Jian-bang, Han Li-jun
Due to its working mechanism, characteristics of the Fiber Optic Gyro (FOG) appear to be severely affected by ambient magnetic fields. Bias sensitivity to magnetic fields is an important parameter of FOG. Internal and external magnetic fields of inertial navigation system (INS) based on FOG both can cause gyro drift error. This will bring precision degradation during alignment of INS. To eliminate alignment error caused by magnetic fields and improve the performance of INS, based on magnetic fields distribution analysis of the system, a novel multi-position alignment process which substantially utilizing rotation ability of the INS with inertial measurement unit (IMU) indexing for error modulation is proposed. Experiments on different initial azimuth indicate that the method is effective. In addition, residual alignment error is discussed.
{"title":"Investigation on azimuth effect of FOG INS multi-position alignment in magnetic field","authors":"Renda Lei, Du Jian-bang, Han Li-jun","doi":"10.1109/INERTIALSENSORS.2014.7049476","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049476","url":null,"abstract":"Due to its working mechanism, characteristics of the Fiber Optic Gyro (FOG) appear to be severely affected by ambient magnetic fields. Bias sensitivity to magnetic fields is an important parameter of FOG. Internal and external magnetic fields of inertial navigation system (INS) based on FOG both can cause gyro drift error. This will bring precision degradation during alignment of INS. To eliminate alignment error caused by magnetic fields and improve the performance of INS, based on magnetic fields distribution analysis of the system, a novel multi-position alignment process which substantially utilizing rotation ability of the INS with inertial measurement unit (IMU) indexing for error modulation is proposed. Experiments on different initial azimuth indicate that the method is effective. In addition, residual alignment error is discussed.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"33 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":"116636122","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.2014.7049404
T. Loret, G. Hardy, C. Vallee, V. Demutrecy, T. Kerrien, S. Cochain, D. Boutoille, R. Taibi, R. Blondeau
iXBlue is recognized worldwide for its technological expertise in fiber-optic gyroscopes (FOG), demonstrated by the quality and reliability of its inertial systems, from QUADRANS to MARINS [1][2][3]. In order to guarantee independence and increase the performance of accelerometers integrated into its products, six years ago iXBlue decided to develop and industrialize new accelerometer technology at its facility in Lannion, Brittany. This adventure started by technology transfer of the VIA "Vibrating Inertial Accelerometer"[4I[5][6] technology based on MEMS vibrating quartz beams from ONERA (National Office of Aerospace Studies and Research) To transform a laboratory demonstrator into an industrial product named iXAL and meet criteria of quality, reliability, manufacturability and cost effectiveness was a real challenge. The paper looks back on two key elements of the production line: chemical etching of active quartz cells for which innovative solutions have enabled ensure "smooth" surface finishes and characterization method of long term stability by aging (i.e. vacuum stability in the MEMS packaging) The product is now qualified over a wide temperature range (-40 to +80°C). This paper presents results in benign and severe environments (temperature, shock, vibration), better than most accelerometers available on the market. Tests over a reduced temperature range (10 to 60 °C) allow us now to consider using the same accelerometers over reduced temperature range in systems which require a bias repeatability better than 30μg. With these results, this paper demonstrates the usefulness of this technology, based on Quartz MEMS, for the Navigation Grade but also for the Strategic Grade (few μg), not accessible today with Silicon MEMS technology. It is in this way that iXBlue continues the research.
{"title":"Navigation grade accelerometer with quartz vibrating beam","authors":"T. Loret, G. Hardy, C. Vallee, V. Demutrecy, T. Kerrien, S. Cochain, D. Boutoille, R. Taibi, R. Blondeau","doi":"10.1109/INERTIALSENSORS.2014.7049404","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049404","url":null,"abstract":"iXBlue is recognized worldwide for its technological expertise in fiber-optic gyroscopes (FOG), demonstrated by the quality and reliability of its inertial systems, from QUADRANS to MARINS [1][2][3]. In order to guarantee independence and increase the performance of accelerometers integrated into its products, six years ago iXBlue decided to develop and industrialize new accelerometer technology at its facility in Lannion, Brittany. This adventure started by technology transfer of the VIA \"Vibrating Inertial Accelerometer\"[4I[5][6] technology based on MEMS vibrating quartz beams from ONERA (National Office of Aerospace Studies and Research) To transform a laboratory demonstrator into an industrial product named iXAL and meet criteria of quality, reliability, manufacturability and cost effectiveness was a real challenge. The paper looks back on two key elements of the production line: chemical etching of active quartz cells for which innovative solutions have enabled ensure \"smooth\" surface finishes and characterization method of long term stability by aging (i.e. vacuum stability in the MEMS packaging) The product is now qualified over a wide temperature range (-40 to +80°C). This paper presents results in benign and severe environments (temperature, shock, vibration), better than most accelerometers available on the market. Tests over a reduced temperature range (10 to 60 °C) allow us now to consider using the same accelerometers over reduced temperature range in systems which require a bias repeatability better than 30μg. With these results, this paper demonstrates the usefulness of this technology, based on Quartz MEMS, for the Navigation Grade but also for the Strategic Grade (few μg), not accessible today with Silicon MEMS technology. It is in this way that iXBlue continues the research.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"45 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":"114502792","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.2014.7049482
B. Groh, N. Weeger, F. Warschun, B. Eskofier
The determination of the orientation of the skis during ski jumping provides fundamental information for athletes, coaches and spectators. Athletes and coaches can improve the training and the jump performance. Spectators can obtain interesting facts and a more attractive way of jump visualization by an orientation and jump angle determination. Existing camera-based systems to determine jump angles require a complex setup and calibration procedure. In contrast, inertial sensor-based methods can provide similar information with a low-cost and easy maintainable sensor setup. In this paper, we describe the processing of inertial sensor data (3D accelerometer, 3D gyroscope) in order to obtain the 3D orientation of the skis of an athlete during the whole jump sequence. Our methods include a functional sensor calibration to deal with sensor misalignment and a quaternion-based processing of sensor data. Acceleration data are used to determine the start and end of the jump and specific periods for the functional calibration. Gyroscope data are used to obtain the current orientation of the skis in each step of the movement. The orientation determination is evaluated by comparing the IMU calculated angle of attack (pitch angle of moving system) with a high-speed camera system. Our results show a root mean square error of 2.0° for the right ski and 9.3° for the left ski. It can be assumed that this difference of accuracy is influenced by the simple 2D evaluation method and perspective-related errors. A 3D high-speed video system with an accurate 3D representation of the skis is discussed for further evaluation.
{"title":"Simplified orientation determination in ski jumping using inertial sensor data","authors":"B. Groh, N. Weeger, F. Warschun, B. Eskofier","doi":"10.1109/INERTIALSENSORS.2014.7049482","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049482","url":null,"abstract":"The determination of the orientation of the skis during ski jumping provides fundamental information for athletes, coaches and spectators. Athletes and coaches can improve the training and the jump performance. Spectators can obtain interesting facts and a more attractive way of jump visualization by an orientation and jump angle determination. Existing camera-based systems to determine jump angles require a complex setup and calibration procedure. In contrast, inertial sensor-based methods can provide similar information with a low-cost and easy maintainable sensor setup. In this paper, we describe the processing of inertial sensor data (3D accelerometer, 3D gyroscope) in order to obtain the 3D orientation of the skis of an athlete during the whole jump sequence. Our methods include a functional sensor calibration to deal with sensor misalignment and a quaternion-based processing of sensor data. Acceleration data are used to determine the start and end of the jump and specific periods for the functional calibration. Gyroscope data are used to obtain the current orientation of the skis in each step of the movement. The orientation determination is evaluated by comparing the IMU calculated angle of attack (pitch angle of moving system) with a high-speed camera system. Our results show a root mean square error of 2.0° for the right ski and 9.3° for the left ski. It can be assumed that this difference of accuracy is influenced by the simple 2D evaluation method and perspective-related errors. A 3D high-speed video system with an accurate 3D representation of the skis is discussed for further evaluation.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"64 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":"129854254","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.2014.7049474
Xin Fu, Jingxian Wang, Linfeng Chen
High-performance dynamic angle measurement is an intensively researched subject, which has wide applications in various fields, such as satellite antenna, long distance telescope, etc. However, few goniometers can fulfil all the requirements of wide input range, high precision and high dynamic. Non-Planar Four-Mode Differential Ring Laser Gyroscope (NP-FMDRLG) is the so-called "next-generation" of Ring Laser Gyroscope (RLG), which is of high-precision and has no mechanical dithering parts, meeting the needs of almost all the high-performance angle measuring fields. NP-FMDRLG has no mechanical dithering parts and therefore no reaction to the rotation axis of the unit under test, feathering very low non-linearity of the scale factor, and can fulfil the measurement needs of both large and small angle, both fast and slow rotation rates. Theoretically, this paper analyzes and concludes that the bias drift is the most significant factor to the high-dynamic and high-precision angle measurement. Angle measuring precision of less than 1 arc-second is theoretically verified and experimentally demonstrated with former error analysis and field experiments. Furthermore, utilizing the ultra-high-precision rotation table SCMS-107 of the National Metrology Institutes of China (NMI), a dynamic angle measuring precision of 0.121 arc-seconds is experimentally verified. Due to the advantages stated above, NP-FMDRLG is an ideal goniometer for all high-performance and high-dynamic angle measurement areas, such as numerically controlled machine tools, high-precision rotation tables, satellite antennas, long-distance telescopes, pointing applications, etc.
{"title":"Application of non-planar four-mode differential ring laser gyroscope in high-performance dynamic angle measurement","authors":"Xin Fu, Jingxian Wang, Linfeng Chen","doi":"10.1109/INERTIALSENSORS.2014.7049474","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049474","url":null,"abstract":"High-performance dynamic angle measurement is an intensively researched subject, which has wide applications in various fields, such as satellite antenna, long distance telescope, etc. However, few goniometers can fulfil all the requirements of wide input range, high precision and high dynamic. Non-Planar Four-Mode Differential Ring Laser Gyroscope (NP-FMDRLG) is the so-called \"next-generation\" of Ring Laser Gyroscope (RLG), which is of high-precision and has no mechanical dithering parts, meeting the needs of almost all the high-performance angle measuring fields. NP-FMDRLG has no mechanical dithering parts and therefore no reaction to the rotation axis of the unit under test, feathering very low non-linearity of the scale factor, and can fulfil the measurement needs of both large and small angle, both fast and slow rotation rates. Theoretically, this paper analyzes and concludes that the bias drift is the most significant factor to the high-dynamic and high-precision angle measurement. Angle measuring precision of less than 1 arc-second is theoretically verified and experimentally demonstrated with former error analysis and field experiments. Furthermore, utilizing the ultra-high-precision rotation table SCMS-107 of the National Metrology Institutes of China (NMI), a dynamic angle measuring precision of 0.121 arc-seconds is experimentally verified. Due to the advantages stated above, NP-FMDRLG is an ideal goniometer for all high-performance and high-dynamic angle measurement areas, such as numerically controlled machine tools, high-precision rotation tables, satellite antennas, long-distance telescopes, pointing applications, etc.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"37 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":"129774322","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.2014.7049479
Rongbing Li, Jianye Liu, Ling Zhang, Y. Hang
Simultaneous Localization and Mapping (SLAM) based on LIDAR and MEMS IMU is a kind of autonomous integrated navigation technology. It can provide attitude, velocity position for a small UAV in an indoor frame during the outage of GNSS. A method of integrating the measurements from a LIDAR and a MEMS IMU was proposed in the paper. LIDAR measurements are a set of ranges and scan angles. The angle rates and accelerations from MEMS IMU are used to drive the simplified strapdown INS equations. The first step of the method is environment features extracting from the measurements of LIDAR and constructing a feature map. Then, the model of errors of LIDAR measurement due to the change of the scan plane during the attitude manoeuver is established and compensated based on aiding information from MEMS INS and the assumption about the structural indoor environment. The relative position parameters derived from environmental features delay matching algorithm and the differences of measurements of LIDAR at adjacent times are used to estimate the error of MEMS INS and MEMS sensors by a Kaiman Filter. A LIDAR/MEMS IMU prototype was designed to verify the practicability of the integrated navigation system of LIDAR and MEMS IMU. Some experiments were carried out in a room and the results demonstrated the potential use of the LIDAR/MEMS IMU integration navigation system.
{"title":"LIDAR/MEMS IMU integrated navigation (SLAM) method for a small UAV in indoor environments","authors":"Rongbing Li, Jianye Liu, Ling Zhang, Y. Hang","doi":"10.1109/INERTIALSENSORS.2014.7049479","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049479","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) based on LIDAR and MEMS IMU is a kind of autonomous integrated navigation technology. It can provide attitude, velocity position for a small UAV in an indoor frame during the outage of GNSS. A method of integrating the measurements from a LIDAR and a MEMS IMU was proposed in the paper. LIDAR measurements are a set of ranges and scan angles. The angle rates and accelerations from MEMS IMU are used to drive the simplified strapdown INS equations. The first step of the method is environment features extracting from the measurements of LIDAR and constructing a feature map. Then, the model of errors of LIDAR measurement due to the change of the scan plane during the attitude manoeuver is established and compensated based on aiding information from MEMS INS and the assumption about the structural indoor environment. The relative position parameters derived from environmental features delay matching algorithm and the differences of measurements of LIDAR at adjacent times are used to estimate the error of MEMS INS and MEMS sensors by a Kaiman Filter. A LIDAR/MEMS IMU prototype was designed to verify the practicability of the integrated navigation system of LIDAR and MEMS IMU. Some experiments were carried out in a room and the results demonstrated the potential use of the LIDAR/MEMS IMU integration navigation system.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"5 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":"126407906","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.2014.7049483
J. Hankey, F. Tutu, A. Gillooly
Fiber Optic Gyroscopes (FOGs) are being used in increasing severe environments and hence the upper maximum temperature may be in excess of the normal operating range used on optical fiber. These environments where high temperature FOGs could be used are in exploration of oil and gas fields, and subsequent fuel extraction from such deep wells. Also many military operating environments have higher temperatures; hence specifications such as the DoD's MIL-PRF-49291 recent revisions of fiber exist, which calls for operation from -55°C to +165°C. Therefore coatings which can operate to 180°C are being assessed. This paper will describe the relative merits of two high temperature acrylate coatings for an optical fiber designed for a FOG in such an operating environment. When assessing performance in gyroscopes, it was seen that both coating types give very good polarisation extinction ratio (PER) performance at high temperature up to 180°C. The fiber is a bow-tie design giving a shorter beat-length and thus a superior polarisation extinction ratio. The long term thermal exposure effects have been investigated and experimental results presented for reliability assurance. After damp heat and dry heat treatments, the tensile strengths of the fibers were found to be well within the Telcordia limits. We have also tested the PER performance over temperature both before and after an extended period of high temperature endurance. This has demonstrated the relative merits of different styles of coatings. From the PER performance the h-parameter of the fiber can be calculated and hence the preferred coating type selected and recommended for the customer operating environment.
{"title":"A polarisation maintaining fiber optimized for high temperature gyroscopes and applications","authors":"J. Hankey, F. Tutu, A. Gillooly","doi":"10.1109/INERTIALSENSORS.2014.7049483","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049483","url":null,"abstract":"Fiber Optic Gyroscopes (FOGs) are being used in increasing severe environments and hence the upper maximum temperature may be in excess of the normal operating range used on optical fiber. These environments where high temperature FOGs could be used are in exploration of oil and gas fields, and subsequent fuel extraction from such deep wells. Also many military operating environments have higher temperatures; hence specifications such as the DoD's MIL-PRF-49291 recent revisions of fiber exist, which calls for operation from -55°C to +165°C. Therefore coatings which can operate to 180°C are being assessed. This paper will describe the relative merits of two high temperature acrylate coatings for an optical fiber designed for a FOG in such an operating environment. When assessing performance in gyroscopes, it was seen that both coating types give very good polarisation extinction ratio (PER) performance at high temperature up to 180°C. The fiber is a bow-tie design giving a shorter beat-length and thus a superior polarisation extinction ratio. The long term thermal exposure effects have been investigated and experimental results presented for reliability assurance. After damp heat and dry heat treatments, the tensile strengths of the fibers were found to be well within the Telcordia limits. We have also tested the PER performance over temperature both before and after an extended period of high temperature endurance. This has demonstrated the relative merits of different styles of coatings. From the PER performance the h-parameter of the fiber can be calculated and hence the preferred coating type selected and recommended for the customer operating environment.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"300 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":"127869121","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.2014.7049410
Y. Korkishko, V. Fedorov, V. Prilutskii, V. Ponomarev, I. Morev, D. Obuhovich, S. Prilutskii
At present time fiber-optic gyroscopes (FOGs) with closed-loop feedback scheme of operation are becoming widely used in inertial navigation systems. One of the main restrictions on FOG usage in the applications of inertial navigation is the limited range of measured angular rate (dynamic range). In this paper we present the results of the new high-precision FOG SRS-1001 development and test results. SRS-1001 FOG, which is the modification of serial SRS-1000 FOG, allows to overcome the observed restrictions and shows the extended dynamic range of 1000 °/s, compared with the dynamic range of 90 °/s for the standard SRS-1000. Furthermore, SRS-1001 has the potential of further dynamic range increase up to 2000 °/s with the retention of high scale factor stability in overall measurement range.
{"title":"High-precision fiber optical gyro with extended dynamical range","authors":"Y. Korkishko, V. Fedorov, V. Prilutskii, V. Ponomarev, I. Morev, D. Obuhovich, S. Prilutskii","doi":"10.1109/INERTIALSENSORS.2014.7049410","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2014.7049410","url":null,"abstract":"At present time fiber-optic gyroscopes (FOGs) with closed-loop feedback scheme of operation are becoming widely used in inertial navigation systems. One of the main restrictions on FOG usage in the applications of inertial navigation is the limited range of measured angular rate (dynamic range). In this paper we present the results of the new high-precision FOG SRS-1001 development and test results. SRS-1001 FOG, which is the modification of serial SRS-1000 FOG, allows to overcome the observed restrictions and shows the extended dynamic range of 1000 °/s, compared with the dynamic range of 90 °/s for the standard SRS-1000. Furthermore, SRS-1001 has the potential of further dynamic range increase up to 2000 °/s with the retention of high scale factor stability in overall measurement range.","PeriodicalId":371540,"journal":{"name":"2014 DGON Inertial Sensors and Systems (ISS)","volume":"350 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":"123186839","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}
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