3. Navigation is a field of study that
focuses on the process of monitoring
and controlling the movement of a
craft or vehicle from one place to
another.
01/27/15 3
6. Inertial navigation is a self-contained
navigation technique.
In which measurements provided by
accelerometers and gyroscopes.
To track the position and orientation of an
object relative to a known starting point.
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7. Figure 1: The body and global frames of reference[10].
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8. An inertial measurement unit (IMU)
measures linear and angular motion in
three dimensions without external
reference.
The IMU consists of two orthogonal
sensor triads, one consisting of three
accelerometers, the other of three
gyroscopes
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10. • If we can measure the acceleration of a vehicle we can
• integrate the acceleration to get velocity
• integrate the velocity to get position
• Then, assuming that we know the initial position and
velocity we can determine the position of the vehicle at
ant time t.
Formula: ..(1)
01/27/15 10
12. The three axes of the aircraft are:
The roll axis which is roughly parallel to the line joining the nose
and the tail
Positive angle: right wing down
The pitch axis which is roughly parallel to the line joining the
wingtips
Positive angle: nose up
The yaw axis is vertical
Positive angle: nose to the right
01/27/15 12
13. Accelerometers are defined as acceleration
sensors that measure the non-gravitational
linear acceleration along their sensitive
axis.
F=m*a …(2)
F=k*x …(3)
Where:
F= force
m= mass
a=acceleration
x= displacement
01/27/15 13
14. In this way
X α A ………(4)
Figure 4: basic sturcture of accelerometer [8]
01/27/15 14
16. A gyroscope is a device for measuring of
maintaining orientation based on the
principle of angular momentum(rotation
momentum)
Figure 6: Gyroscope
01/27/15 16
17. Uses Coriolis effect using vibrating elements
▪ Fc -Force m -mass w -angular velocity v –velocity
Figure 7: Coriolis effect [10]
01/27/15 17
20. Figure 9: Relationship between the output voltage of the
accelerometer(gyro) and the measured force(angular rate) [10].
01/27/15 20
21. ….(5)
….(6)
Where:
a = true specific force vector
ω = body frame rotation rate vector
b = bias vector
S = scale factor matrix
N = non-orthogonality error matrix
η = non-deterministic accelerometer errors
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22. Six Position Static Test
Improved Six Position Static Test
Multi-Position Calibration Method
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29. General calibration model as below for accelerometer :
…(17)
By using the same methodology, we can derive the general model for the
gyros as:
…(18)
Where ωe is the true Earth rotation rate.
01/27/15 29
30. Rotation matrix:
, Ry
…(19)
The non-orthogonality of the z axis can be expressed by two consecutive rotations;
rotation about the x axis by θzx and about the y axis by θzy.
…(20)
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32. Inclusion of the major errors, bias and
scale factor error, into the IMU data is
done by the equation below:
..(23)
Where Ya , b, a ,s IMU observation, bias
and scale factor error, respectively, for the
accelerometer and i = x, y and z.
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33. The observation equations for the accelerometer sensors
on the IMU axis triad will be obtained as below:
...(24)
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34. The true values for the specific force
vector components are found as:
(25)
01/27/15 34
36. The XSENS 300 MTi-G is an integrated GPS
and Inertial Measurement Unit (IMU).
Small size,
Weight,
Low cost and low complexity in use
wide range of interface options
XSENS 300 MTi-G gives output if it is
rotated in three dimension space.
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40. Navigation
Use in quadcopter
Tracking
Robotics
Aircraft
01/27/15 40
41. We estimate the value of bias, scale and
non-orthogonality errors.
By using these methods we will get an error
less IMU sensor.
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42. To calibrate the INS by optimization
To evaluate the contribution of the
calibration and stochastic error modeling
with thermal compensation
Investigation of a general model including
both deterministic and stochastic noise
terms
01/27/15 42
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