Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507249
Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin
Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.
{"title":"A sensor based indoor mobile localization and navigation using Unscented Kalman Filter","authors":"Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin","doi":"10.1109/PLANS.2010.5507249","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507249","url":null,"abstract":"Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79157421","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507226
D. F. Prim
In a GPS+Galileo scenario and from a worldwide point of view, this contribution evaluates the use of higher elevation masking angles at the user receiver antenna while keeping positioning performances comparable to those achieved in a GPS-only scenario. By comparing suitable statistical figures of merit that account for time and geographical fitting of scenarios in terms of PDOP and receiver-estimated code delay jitter, it is hereby shown that performance equivalence is observed for a receiver antenna masking angle of 10° in a GPS-only scenario, and for 16.5° in a GPS+Galileo constellation. This fact is proposed to be applied as a simple measure to increase the robustness of mass-market receivers to external interference sources and multipath.
{"title":"Dilution of precision and total interference level on a GPS+Galileo compatible receiver. A global perspective.","authors":"D. F. Prim","doi":"10.1109/PLANS.2010.5507226","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507226","url":null,"abstract":"In a GPS+Galileo scenario and from a worldwide point of view, this contribution evaluates the use of higher elevation masking angles at the user receiver antenna while keeping positioning performances comparable to those achieved in a GPS-only scenario. By comparing suitable statistical figures of merit that account for time and geographical fitting of scenarios in terms of PDOP and receiver-estimated code delay jitter, it is hereby shown that performance equivalence is observed for a receiver antenna masking angle of 10° in a GPS-only scenario, and for 16.5° in a GPS+Galileo constellation. This fact is proposed to be applied as a simple measure to increase the robustness of mass-market receivers to external interference sources and multipath.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79182638","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507184
I. Rapoport, A. Brandes
Sculling compensation algorithms implemented in strapdown inertial navigation systems are designed to treat low frequency acceleration signals originated from a simultaneous linear and angular high frequency vibration through the strapdown navigation equations nonlinearity. However, if the inertial sensor transfer functions are imperfect, the low frequency terms might not be completely compensated, thus causing an effective bias in the accelerometer output. In the present work a quantitative analysis of the uncompensated sculling errors caused by the sensor transfer function imperfections is carried out in the case of the pure sculling motion. The obtained results can be used to facilitate the selection of the appropriate inertial sensors to meet the prescribed navigation accuracy requirements. The presented analysis is especially important if low cost (e.g., MEMS) sensors are considered for implementation in strapdown INS.
{"title":"Analysis of sculling motion errors caused by sensor transfer function imperfections in strapdown inertial navigation systems","authors":"I. Rapoport, A. Brandes","doi":"10.1109/PLANS.2010.5507184","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507184","url":null,"abstract":"Sculling compensation algorithms implemented in strapdown inertial navigation systems are designed to treat low frequency acceleration signals originated from a simultaneous linear and angular high frequency vibration through the strapdown navigation equations nonlinearity. However, if the inertial sensor transfer functions are imperfect, the low frequency terms might not be completely compensated, thus causing an effective bias in the accelerometer output. In the present work a quantitative analysis of the uncompensated sculling errors caused by the sensor transfer function imperfections is carried out in the case of the pure sculling motion. The obtained results can be used to facilitate the selection of the appropriate inertial sensors to meet the prescribed navigation accuracy requirements. The presented analysis is especially important if low cost (e.g., MEMS) sensors are considered for implementation in strapdown INS.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76405838","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507331
Anning Chen, Arvind Ramanandan, J. Farrell
Lane relative vehicle navigation and control requires accurate lane-relative positioning of the vehicle. This relative position can be computed by comparing the vehicle absolute position with analytic roadway maps, which requires both high-accuracy positioning of the vehicle and high-accuracy lane maps. Carrier Phase Differential GPS (CPDGPS) aided INS or CPDGPS aided encoders is capable of estimating vehicle absolute position (relative to earth center) with centimeter level accuracy; however, to the best of the author's knowledge, the accuracy of lane level maps is currently not sufficient. In this paper, we first consider the structure of lane level maps that are compatible with standard practices of GIS road modeling. Then, various analytic lane definition are discussed. We also present a method of building lane level maps from high-accuracy positioning data along the lane center. The data is segmented according to road intersections. Shape points (vertices) as a function of arclength are located based on changes in estimated curvature. For each segment, the parameters are estimated by least-square criteria and can be refined as new datasets become available. This process is shown by an example.
{"title":"High-precision lane-level road map building for vehicle navigation","authors":"Anning Chen, Arvind Ramanandan, J. Farrell","doi":"10.1109/PLANS.2010.5507331","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507331","url":null,"abstract":"Lane relative vehicle navigation and control requires accurate lane-relative positioning of the vehicle. This relative position can be computed by comparing the vehicle absolute position with analytic roadway maps, which requires both high-accuracy positioning of the vehicle and high-accuracy lane maps. Carrier Phase Differential GPS (CPDGPS) aided INS or CPDGPS aided encoders is capable of estimating vehicle absolute position (relative to earth center) with centimeter level accuracy; however, to the best of the author's knowledge, the accuracy of lane level maps is currently not sufficient. In this paper, we first consider the structure of lane level maps that are compatible with standard practices of GIS road modeling. Then, various analytic lane definition are discussed. We also present a method of building lane level maps from high-accuracy positioning data along the lane center. The data is segmented according to road intersections. Shape points (vertices) as a function of arclength are located based on changes in estimated curvature. For each segment, the parameters are estimated by least-square criteria and can be refined as new datasets become available. This process is shown by an example.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79546670","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507253
Jan Kietlinski-Zaleski, T. Yamazato, M. Katayama
Ultra-Wideband is an attractive technology for short range positioning, especially indoors. However, for normal Time of Arrival (ToA) positioning, at least three receivers with unblocked direct path to the transmitter are required. This requirement is not always met. In this work, a novel algorithm for ToA positioning using only two receivers is presented and validated using data from a measurement campaign. Positioning with two receivers is possible by exploiting the knowledge of some of the indoor features, namely positions of big flat reflective surfaces, for example ceiling and walls.
{"title":"Experimental validation of TOA UWB positioning with two receivers using known indoor features","authors":"Jan Kietlinski-Zaleski, T. Yamazato, M. Katayama","doi":"10.1109/PLANS.2010.5507253","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507253","url":null,"abstract":"Ultra-Wideband is an attractive technology for short range positioning, especially indoors. However, for normal Time of Arrival (ToA) positioning, at least three receivers with unblocked direct path to the transmitter are required. This requirement is not always met. In this work, a novel algorithm for ToA positioning using only two receivers is presented and validated using data from a measurement campaign. Positioning with two receivers is possible by exploiting the knowledge of some of the indoor features, namely positions of big flat reflective surfaces, for example ceiling and walls.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91393345","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507221
R. Malla, R. Fries
This paper describes a multi-layer technique using modeling and simulation to assess the impact of ionospheric scintillation on satellite navigation systems. It is well known that GPS receivers in low- and high-latitude regions may suffer from rapid amplitude and phase fluctuations and signal scatter due to scintillation, causing loss of lock and cycle slips to dual as well as single frequency users. Scintillation poses a challenge to the GPS augmentation service providers including Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS) to provide a high probability of navigational service availability in affected regions. Over the recent decades, many studies and data analyses have been conducted to understand effect of scintillation which affects users of satellite based navigation systems. Some significant data has been translated into modeling and simulation tools to help characterize scintillation effects and the world-wide scintillation environment.
{"title":"Multi-layer modeling and simulation of the effects of ionospheric scintillation on service availability of the GPS augmentation systems","authors":"R. Malla, R. Fries","doi":"10.1109/PLANS.2010.5507221","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507221","url":null,"abstract":"This paper describes a multi-layer technique using modeling and simulation to assess the impact of ionospheric scintillation on satellite navigation systems. It is well known that GPS receivers in low- and high-latitude regions may suffer from rapid amplitude and phase fluctuations and signal scatter due to scintillation, causing loss of lock and cycle slips to dual as well as single frequency users. Scintillation poses a challenge to the GPS augmentation service providers including Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS) to provide a high probability of navigational service availability in affected regions. Over the recent decades, many studies and data analyses have been conducted to understand effect of scintillation which affects users of satellite based navigation systems. Some significant data has been translated into modeling and simulation tools to help characterize scintillation effects and the world-wide scintillation environment.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87305879","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507225
L. Mallette, Joey White, P. Rochat
Accurate and stable frequency reference sources are critical for commercial, navigation, military and scientific space applications. Several levels of frequency references are suitable for space applications. This paper discusses similarities and differences among single distributed oscillators for communications satellites, master oscillator groups for communications systems, and atomic clocks for military and navigation systems. This paper builds on reference [1] and broadly describes frequency sources on current and upcoming global navigation satellite systems (GNSS). The three current systems are the Global Navigation Satellite System (GLONASS), the Global Positioning System (GPS), and the Galileo system. The upcoming navigation systems are: China's Compass satellite positioning system, Japan's quasi-zenith satellite system (QZSS), India's regional navigation satellite system (IRNSS), GPS-IIF, and GPS-III.
{"title":"Space qualified frequency sources (clocks) for current and future GNSS applications","authors":"L. Mallette, Joey White, P. Rochat","doi":"10.1109/PLANS.2010.5507225","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507225","url":null,"abstract":"Accurate and stable frequency reference sources are critical for commercial, navigation, military and scientific space applications. Several levels of frequency references are suitable for space applications. This paper discusses similarities and differences among single distributed oscillators for communications satellites, master oscillator groups for communications systems, and atomic clocks for military and navigation systems. This paper builds on reference [1] and broadly describes frequency sources on current and upcoming global navigation satellite systems (GNSS). The three current systems are the Global Navigation Satellite System (GLONASS), the Global Positioning System (GPS), and the Galileo system. The upcoming navigation systems are: China's Compass satellite positioning system, Japan's quasi-zenith satellite system (QZSS), India's regional navigation satellite system (IRNSS), GPS-IIF, and GPS-III.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81203790","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507244
Evan Dill, M. U. de Haag
This paper discusses the development of a novel navigation method that integrates three-dimensional (3D) point cloud data, two-dimensional (2D) digital camera data, and data from an Inertial Measurement Unit (IMU). The target application is to provide an accurate position and attitude determination of unmanned aerial vehicles (UAV) or autonomous ground vehicles (AGV) in any urban or indoor environments, during any scenario. In some urban and indoor environments, GPS signals are attainable and usable for these target applications, but this is not always the case. GPS position capability may not only be unavailable due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. In these scenarios where GPS is not a viable, or reliable option, a system must be developed that compliments GPS and works in the environments where GPS encounters problems. The proposed algorithm is an effort to show one possible method that a complementary system to GPS could use. It extracts key features such as planar surfaces, lines, corners, and points from both the 3D (point-cloud) and 2D (intensity) imagery. Consecutive observations of corresponding features in the 3D and 2D image frames are then used to compute estimates of position and orientation changes. Since the use of 3D image features for positioning suffers from limited feature observability resulting in deteriorated position accuracies, and the 2D imagery suffers from an unknown depth when estimating the pose from consecutive image frames, it is expected that the integration of both data sets will alleviate the problems with the individual methods resulting in a position and attitude determination procedure with a high level of assurance. An Inertial Measurement Unit (IMU) is used to set up the tracking gates necessary to perform data association of the features in consecutive frames. Finally, the position and orientation change estimates can be used to correct for and mitigate the IMU drift errors.
{"title":"Integration of 3D and 2D imaging data for assured navigation in unknown environments","authors":"Evan Dill, M. U. de Haag","doi":"10.1109/PLANS.2010.5507244","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507244","url":null,"abstract":"This paper discusses the development of a novel navigation method that integrates three-dimensional (3D) point cloud data, two-dimensional (2D) digital camera data, and data from an Inertial Measurement Unit (IMU). The target application is to provide an accurate position and attitude determination of unmanned aerial vehicles (UAV) or autonomous ground vehicles (AGV) in any urban or indoor environments, during any scenario. In some urban and indoor environments, GPS signals are attainable and usable for these target applications, but this is not always the case. GPS position capability may not only be unavailable due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. In these scenarios where GPS is not a viable, or reliable option, a system must be developed that compliments GPS and works in the environments where GPS encounters problems. The proposed algorithm is an effort to show one possible method that a complementary system to GPS could use. It extracts key features such as planar surfaces, lines, corners, and points from both the 3D (point-cloud) and 2D (intensity) imagery. Consecutive observations of corresponding features in the 3D and 2D image frames are then used to compute estimates of position and orientation changes. Since the use of 3D image features for positioning suffers from limited feature observability resulting in deteriorated position accuracies, and the 2D imagery suffers from an unknown depth when estimating the pose from consecutive image frames, it is expected that the integration of both data sets will alleviate the problems with the individual methods resulting in a position and attitude determination procedure with a high level of assurance. An Inertial Measurement Unit (IMU) is used to set up the tracking gates necessary to perform data association of the features in consecutive frames. Finally, the position and orientation change estimates can be used to correct for and mitigate the IMU drift errors.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88435752","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507319
D. Salos, C. Macabiau, Anaïs Martineau, B. Bonhoure, D. Kubrak
Certain GNSS applications conceived for road users in urban scenarios must meet some particular integrity requirements to assure the system safety, reliability or credibility. For instance, GNSS-based Road User Charging is one of these applications that recently has attracted special interest. A correct design of such applications needs the knowledge of the GNSS error distribution. Furthermore, the GNSS error model should have been built with overbounding techniques. The user is a vehicle equipped with a GNSS receiver that may track different signals of various systems (GPS, Galileo, SBAS), in a single-or dual-frequency configuration. The different error sources contributing to the total pseudorange error are identified, analyzed and modeled, using overbounding techniques when necessary. Finally the pseudorange measurement error model is obtained and analyzed for different receiver configurations.
{"title":"Nominal GNSS pseudorange measurement model for vehicular urban applications","authors":"D. Salos, C. Macabiau, Anaïs Martineau, B. Bonhoure, D. Kubrak","doi":"10.1109/PLANS.2010.5507319","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507319","url":null,"abstract":"Certain GNSS applications conceived for road users in urban scenarios must meet some particular integrity requirements to assure the system safety, reliability or credibility. For instance, GNSS-based Road User Charging is one of these applications that recently has attracted special interest. A correct design of such applications needs the knowledge of the GNSS error distribution. Furthermore, the GNSS error model should have been built with overbounding techniques. The user is a vehicle equipped with a GNSS receiver that may track different signals of various systems (GPS, Galileo, SBAS), in a single-or dual-frequency configuration. The different error sources contributing to the total pseudorange error are identified, analyzed and modeled, using overbounding techniques when necessary. Finally the pseudorange measurement error model is obtained and analyzed for different receiver configurations.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85582633","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507297
F. Sun, Wei Sun, Lin Wu
Advanced development of Strapdown Inertial Navigation System (SINS) using Inertial Measurement Unit (IMU) rotational motion technology is described. The purpose of this project is to determine the feasibility of averaging out the inertial component bias in order to improve the accuracy of alignment. The traditional method of ground coarse alignment, which based on the assumption that SINS is on a stationary carrier limited the IMU's rotation, therefore cannot be used to perform the Surface Ship coarse alignment based on IMU rotational motion. The novel method using the gravity in the inertial frame as a reference for Surface Ship alignment with IMU rotary motion is detailed in this article. The proposed coarse alignment method was applied on simulation and turntable-test. The results showed that the attitude determined by this novel method can meet the accuracy requirement of coarse alignment and it can be used as the input of fine alignment.
{"title":"Coarse alignment based on IMU rotational motion for Surface Ship","authors":"F. Sun, Wei Sun, Lin Wu","doi":"10.1109/PLANS.2010.5507297","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507297","url":null,"abstract":"Advanced development of Strapdown Inertial Navigation System (SINS) using Inertial Measurement Unit (IMU) rotational motion technology is described. The purpose of this project is to determine the feasibility of averaging out the inertial component bias in order to improve the accuracy of alignment. The traditional method of ground coarse alignment, which based on the assumption that SINS is on a stationary carrier limited the IMU's rotation, therefore cannot be used to perform the Surface Ship coarse alignment based on IMU rotational motion. The novel method using the gravity in the inertial frame as a reference for Surface Ship alignment with IMU rotary motion is detailed in this article. The proposed coarse alignment method was applied on simulation and turntable-test. The results showed that the attitude determined by this novel method can meet the accuracy requirement of coarse alignment and it can be used as the input of fine alignment.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85732516","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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