Autonomous Inertial Navigation System Research Articles

Algorithm for Integrating Data from the Autonomous Inertial Navigation Systems of Drones

Algorithm for Integrating Data from the Autonomous Inertial Navigation Systems of Drones

Complex mathematical models of inertial navigation system errors

The article is devoted to mathematical models of errors of inertial navigation systems (INS). The main advantages of autonomous inertial navigation systems are their resistance to horizontal accelerations and the ability to work autonomously under any conditions. However, over time, the errors of autonomous INS, due to the drift of gyroscopes, zero offset and drift of accelerometers, as well as other factors, reach significant values. Therefore, research to compensate for these errors is an important and urgent task in the autonomous mode of operation of the aircraft. To establish the connection between the output and input errors of autonomous INS, the equation of errors of autonomous INS is made. In this case, two models of errors of autonomous INS are investigated: nonlinear and linear. Depending on the requirement for accuracy and time of calculation of navigation parameters choose different models of INS errors. The linear model is simpler and requires less computational time. But the development of modern technologies allows to solve complex problems at an acceptable time interval. Therefore, it is possible to use nonlinear models.

High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model

The high-precision positioning of the shearer is the key technology to realize the automation of longwall mining. Since mine is a Global Position System (GPS)-denied environment, highly autonomous Inertial Navigation System (INS)/odometer integrated navigation has been widely used. At present, the shearer positioning method based on INS/odometer has been challenging to meet the requirements of long-time and high-precision mining. Aiming at the high-precision navigation in the complex mining environment, this paper constructs a comprehensive rail kinematics model of the shearer that does not rely on external sensors. By analyzing the kinematic characteristics of the shearer and the scraper conveyor during the longwall mining process, a method of information fusion and navigation system fault diagnosis based on the assistance of the shearer rail kinematics model was proposed. According to the working principle of the shearer rails and hydraulic supports, the characteristics of the trajectory deviation caused by the sensor fault of the hydraulic support are analyzed. Combined with the engineering requirements of shearer mining, the model fault identification was carried out by the fading probability ratio detection algorithm. The simulation results show that the proposed algorithm effectively improves the positioning of shearer accuracy in multiple cutting cycles. At the same time, it avoids the influence of the rail deviation caused by the rail kinematics model fault on the positioning of the shearer.

New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts.

This paper presents new algorithmic methods for accuracy improvement of autonomous inertial navigation systems of aircrafts. Firstly, an inertial navigation system platform and its nonlinear error model are considered, and the correction schemes are presented for autonomous inertial navigation systems using internal information. Next, a correction algorithm is proposed based on signals from precession angle sensors. A vector of reduced measurements for the estimation algorithm is formulated using the information about the angles of precession. Finally, the accuracy of the developed correction algorithms for autonomous inertial navigation systems of aircrafts is studied. Numerical solutions for the correction algorithm are presented by the adaptive Kalman filter for the measurement data from the sensors. Real data of navigation system Ts-060K are obtained in laboratory experiments, which validates the proposed algorithms.

Control of a Robotic Arm on the Principle of Separate Decision of an Inertial Navigation System

This paper describes the system activity and the importance of autonomous inertial navigation system /INS/ and its implementation to control the robotic arm. The article further introduces the execution of DC motor regulation utilized for the positioning of a rotary positioned arm. The motor control comprises the current regulation, angular velocity and the rotation of the motor shaft fixed to the arm regarding the required angular change course of the arm rotation. The regulation structure of the DC motor is carried out in MATLAB/Simulink programme. The arm movement is investigated via mathematical model and virtual dynamic model formed in MSC ADAMS programme.

New celestial assisted INS initial alignment method for lunar explorer

In the future lunar exploration programs of China, soft landing, sampling and returning will be realized. For lunar explorers such as Rovers, Landers and Ascenders, the inertial navigation system (INS) will be used to obtain high-precision navigation information. INS propagates position, velocity and attitude by integration of sensed accelerations, so initial alignment is needed before INS can work properly. However, traditional ground-based initial alignment methods cannot work well on the lunar surface because of its low rotation rate (0.55°/h). For solving this problem, a new autonomous INS initial alignment method assisted by celestial observations is proposed, which uses star observations to help INS estimate its attitude, gyroscopes drifts and accelerometer biases. Simulations show that this new method can not only speed up alignment, but also improve the alignment accuracy. Furthermore, the impact factors such as initial conditions, accuracy of INS sensors, and accuracy of star sensor on alignment accuracy are analyzed in details, which provide guidance for the engineering applications of this method. This method could be a promising and attractive solution for lunar explorer's initial alignment.

Synergetic Concept of Algorithms Autonomous Inertial Navigation Systems

Abstract Errors of INS output parameters lead to a positive feedback effect of errors and eventually to an even more dramatic increase in system errors. To reduce the impact of this problem on the error output parameters of INS, in this paper, we propose and study a new concept of constructing algorithms for autonomous INS, which is called as synergetic concept. In the paper the synergetic concept of inertial system’s algorithm is presented and investigated by implementing its into strapdown inertial navigation system (SDINS).