Autonomous Inertial Navigation 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.

Nondestructive microwave detection of a coherent quantum dynamics in cold atoms

Cold atom quantum sensors based on atom interferometry are among the most accurate instruments used in fundamental physics, metrology, and foreseen for autonomous inertial navigation. However, they typically have optically complex, cumbersome, and low-bandwidth atom detection systems, limiting their practical applications. Here, we demonstrate an enabling technology for high-bandwidth, compact, and nondestructive detection of cold atoms, using microwave radiation. We measure the reflected microwave signal to coherently and distinctly detect the population of single quantum states with a bandwidth close to 30 kHz and a design destructivity that we set to 0.04%. We use a horn antenna and free-falling molasses cooled atoms in order to demonstrate the feasibility of this technique in conventional cold atom interferometers. This technology, combined with coplanar waveguides used as microwave sources, provides a basic design building block for detection in future atom chip-based compact quantum inertial sensors.

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.

Precise laser gyroscope for autonomous inertial navigation

Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented.

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.

Robust vision-aided inertial navigation algorithm via entropy-like relative pose estimation

The paper presents a loosely coupled approach for the improvement of state estimation in autonomous inertial navigation, augmented via image-based relative motion estimation. The proposed approach uses a novel pose estimation technique based on the minimization of an entropy-like cost function which is robust by nature to the presence of noise and outliers in the visual features. Experimental evidence of the performance of this approach is given and compared to a state-of-the-art algorithm. An indirect Kalman filter is used for navigation in the framework of stochastic cloning. The robust relative pose estimation given by our novel technique is used to feed a relative position fix to the navigation filter. The simulation results are presented and compared with the results obtained via the classical RANSAC-based direct linear transform approach.

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).

An Entropy—Like Approach to Vision—Aided Inertial Navigation

AbstractThe paper presents a loosely coupled approach for the improvement of the state estimation in autonomous inertial navigation tasks, augmented via image–based relative motion estimation. The proposed approach uses a novel Pose Estimation technique based on the minimization of a Entropy–Like cost function which is robust by nature to the presence of noise and outliers in the visual features. A Indirect Kalman Navigation Filter is used, in the framework of stochastic cloning. The robust relative pose estimation given by our novel technique is used to feed a relative position fix to the navigation filter. Simulations results are presented and compared with the results obtained via the classical Iterative Closest Point approach.

Strapdown inertial navigation systems for high precision near-Earth navigation and satellite geodesy: Analysis of operation and errors

Specific features of the solution of problems of near-Earth inertial navigation are described for applications in which geodetic-class precision is required, the connection of problems of autonomous inertial navigation and satellite gravimetry, their complementary and contradictory character are considered, navigation support of modern projects of satellite geodesy is analyzed. The architecture of a precise strapdown inertial navigation system is considered, the mathematical model for its operation with account of errors is proposed. Error equations are obtained in a general nonlinear form. The specific features of the constructed model are the account of variations of velocity of the Earth’s self rotation, the nonstationary character of the Earth’s gravitational field, the gravitational influence of the Sun, the Moon, planets, and the account of tidal, tectonic, seasonal motions of the navigation coordinate system whose origin is situated at the point of the surface of the elastic Earth with respect to the Earth’s geocentric coordinate system.

Interpretation of acceleration measurements in inertial navigation

It is shown that, when the absolute and apparent accelerations are measured simultaneously, the problem of autonomous inertial navigation is reduced to the solvable inverse problem. Physical and geometrical (kinematic) conditions for solvability are formulated.