INS algorithm using quaternion model for low cost IMU
نویسنده
چکیده
This paper presents a generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption. The modelling uses quaternions in the computer frame approach. Based on this model, an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment. The distribution approximation filter (DAF) is used to implement the non-linear data fusion algorithm. © 2004 Elsevier B.V. All rights reserved.
منابع مشابه
Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy
Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrence makes the sensor reliability is decreased. Rotation of Inertial Measurement Unit(RIMU) and use ...
متن کاملCascade Kalman Filter Configuration for Low Cost IMU/GPS Integration in Car Navigation Like Robot
This paper introduces a low cost INS/GPS algorithm for land vehicle navigation application. The data fusion process is done with an extended Kalman filter in cascade configuration mode. In order to perform numerical simulations, MATLAB software has been developed. Loosely coupled configuration is considered. The results obtained in this work demonstrate that a low-cost INS/GPS navigation system...
متن کاملA quaternion-based Attitude Estimate System Based on a Low Power Consumption Inertial Measurement Unit
Accurate and real-time tracking of the orientation or attitude of rigid bodies has traditional applications in robotics, aerospace, underwater vehicles, human body motion capture, etc. Towards human body motion capture, especially wearable devices, the use of a longer time has always been a challenge for several weeks or several months continuously, so a low-cost chip and a low computational co...
متن کاملGPS/INS Integration for Vehicle Navigation based on INS Error Analysis in Kalman Filtering
The Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in the recent decade. The Micro Electrical Mechanical Sensors (MEMS) successfully solved the problems of price, size and weight with the traditional INS. Therefore...
متن کاملIntegration of Ppp Gps and Low Cost Imu
GPS and low-cost INS integrated system are expected to become more widespread as a result of the availability of low cost inertial Micro-Electro-Mechanical Sensors (MEMS). Currently most of the integration systems are based on the differential GPS (DGPS) to ensure the navigation performance. However with the requirements of the base station, the system cost and complexity are significantly incr...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 46 شماره
صفحات -
تاریخ انتشار 2004