Velocity/Position Integration Formula Part II: Application to Strapdown Inertial Navigation Computation
نویسندگان
چکیده
منابع مشابه
Comparison of numerical integration methods in strapdown inertial navigation algorithm
Cviklovič V., Hrubý D., Olejár M., Lukáč O., 2011. Comparison of numerical integration methods in strapdown inertial navigation algorithm. Res. Agr. Eng., 57 (Special Issue): S30–S34. The numerical mathematical theory provides a few ways of numerical integration with different errors. It is necessary to make use of the most exact method with respect to the computing power for a majority of micr...
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This series of two papers (Parts 1 and 2) provides a rigorous comprehensive approach to the design of the principal software algorithmsutilized in modern-day strapdown inertial navigation systems: integration of angular rate into attitude, acceleration transformation/integration into velocity, and integration of velocity into position. The algorithmsare structured utilizing the two-speed updati...
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The estimation accuracy of a low-cost inertial navigation system (INS) is limited by the accuracy of the used sensors and the imperfect mathematical modeling of the error sources. By fusing the INS data with GPS data, the errors can be bounded and the accuracy increases considerably. In this project, a low-cost in-house constructed inertial measurement unit (IMU) and an off-the-shelf GPS receiv...
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A new generalized optimum strapdown algorithm with coning and sculling compensation is presented, in which the position, velocity and attitude updating operations are carried out based on the single-speed structure in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effect...
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Inertial sensors comprise of two primary sensor units: accelerometers and gyroscopes. An inertial measurement unit (IMU) combines multiple accelerometers and gyros, usually three of each, to produce a three-dimensional measurement of specific force and angular rate (Weston and Titterton 2000). New designs of INS employ a strap down architecture, whereby the inertial sensors are fixed with respe...
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ژورنال
عنوان ژورنال: IEEE Transactions on Aerospace and Electronic Systems
سال: 2013
ISSN: 0018-9251
DOI: 10.1109/taes.2013.6494396