TITLE

Analytic Error Assessment of Gyro-Free INS

AUTHOR(S)
Klein, Itzik
PUB. DATE
March 2015
SOURCE
Journal of Applied Geodesy;Mar2015, Vol. 9 Issue 1, p49
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
Agyro-free INS consists of at least six distributed accelerometers capable of obtaining linear and angular acceleration and thereby capable of functioning as a conventional INS. Most of the research in the gyro-free field focused on seeking optimal accelerometer configurations and less attention was given to deriving appropriate statespace models and analytical error assessment as in a conventional INS. In this paper, we aim to fill this gap by contributing to three aspects of gyro-free theory. Firstly, practical gyrofree kinematic equations of motion and corresponding error-state models fitting to any set of accelerometers configuration are derived. Secondly, an analytic error assessment of the North Channel dynamics is provided enabling insight on the parameters affecting the gyro-free INS position error. Thirdly, a comparison between INS and gyrofree INS is performed, based on the derived analytical expressions.
ACCESSION #
101678465

 

Related Articles

  • Identification and Compensation of Static Errors in the Phase Coordinates of Elements of an Optical Encoder. Kaplya, E. // Measurement Techniques;Aug2014, Vol. 57 Issue 5, p493 

    We propose an experimental-theoretical method to identify and compensate static errors in the phase coordinates of the elements of an optical encoder. The technique developed is applied to the compensation of systematic errors in angle measurements in the modern optical encoder.

  • Improvement of angular velocity and position estimation in gyro-free inertial navigation based on vision aid equipment. Dehghani, Mehdi; Kharrati, Hamed; Seyedarabi, Hadi; Baradarannia, Mahdi // IET Computer Vision;2018, Vol. 12 Issue 3, p261 

    In conventional navigation systems, inertial sensors consist of accelerometers and gyroscopes. These sensors suffer from in-built errors, accumulated drift and high-level noise sensitivity. The accurate gyroscopes are expensive and not suitable in cost-effective applications. To minimise such...

  • METHOD OF MEASURING OF ANGULAR ORIENTATION PARAMETERS IN MICROMECHANICAL INERTIAL-SATELLITE NAVIGATION SYSTEMS. Filyashkin, M. K. // Electronics & Control Systems;2014, Vol. 4 Issue 42, p18 

    Are given the method of determination of angular parameters, which is used in micromechanical inertial-satellite systems, constructed by the method of compensation or based on the reduced Kalman filter. Measurement errors of roll and pitch angles are investigated by the proposed method with...

  • in brief.  // Electronics Letters;8/28/2014, Vol. 50 Issue 18, p1332 

    The article offers news briefs related to technology as of August 28, 2014 on topics including 3 point Distributed Bragg Reflector (DBR) fibre laser sensor array, reduction of signal distortion in interferomagnetic angular velocity measurements, and steady-state and mixed-mode oscillations (MMOs).

  • FPGA BASED FIBER OPTIC GYROSCOPE SIGNAL DENOISING USING DISCRETE WAVELET TRANSFORM. Rangababu, P.; Shravan Kumar, K.; Sabat, Samrat L. // Journal of Engineering & Applied Sciences;Nov2012, Vol. 7 Issue 11, p1480 

    This paper presents field programmable gate array (FPGA) implementation of the forward/inverse discrete wavelet transform for denoising Fiber Optic Gyroscope (FOG) signal. In this work an extensive study on the effect of different threshold techniques of DWT algorithm are carried out denoising...

  • A North Finder Scheme for FOG SINS based on Kalman Filtering. ZHENG Wei-zhen; YANG Gong-liu; ZHANG Kui; MA Ren-dong // Applied Mechanics & Materials;2014, Issue 644-650, p4040 

    In the background of using SINS technology to the car north finder, how to use FOG SINS in-vehicle vibration environment to obtain accurate initial attitude information is analyzed. Based on two-point north finder algorithm, north finder algorithm and kalman filtering algorithm are combined, and...

  • Characterization of the Bell-Shaped Vibratory Angular Rate Gyro. Ning Liu; Zhong Su; Qing Li; Mengyin Fu; Hong Liu; Junfang Fan // Sensors (14248220);Aug2013, Vol. 13 Issue 8, p10123 

    The bell-shaped vibratory angular rate gyro (abbreviated as BVG) is a novel shell vibratory gyroscope, which is inspired by the Chinese traditional bell. It sensitizes angular velocity through the standing wave precession effect. The bell-shaped resonator is a core component of the BVG and looks...

  • Micro-machined Gyroscope Mathematical Model and Error Analysis. Miaowen Deng; Bing Mo; Chaodong Ling; Ronghai Huang; Suki Kim // Key Engineering Materials;2014, Vol. 609-610, p1144 

    The micro-machined gyroscope that uses Coriolis force to measure angular velocity has non-linear error, which makes the amplitude of angular velocity have a relationship with its frequency, and fabrication technology error, which leads gyroscope's drive shaft and detection shaft not to be...

  • Design of the Digital in Signal Processing Platform of the Gyroscope Based On FPGA. Wang Di; Zhou Jiajun; Chen Song; Yao Ying; Yin Liang; Liu Xiaowei // Key Engineering Materials;2014, Vol. 609-610, p903 

    Gyroscope is a sensor that measure angular velocity which is widely used in various fields. The analog processing technology of Gyro-signal is very mature, but due to the noise and other shortcomings of the analog circuit, the development of micro-mechanical gyroscope is limited. Digital...

Share

Read the Article

Courtesy of THE LIBRARY OF VIRGINIA

Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics