Download or read book Analysis and Tuning of a Low Cost Inertial Navigation System in the ARIES AUV written by Steven R. Vonheeder and published by . This book was released on 2006 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicle navigation is a complex problem of state estimation. Accurate navigation is made difficult due to a lack of reference navigation aids or use of the Global Positioning System (GPS) that could establish the vehicles position. Accurate navigation is critical due to the level of autonomy and range of missions and environments into which an underwater vehicle may be deployed. Navigational accuracy depends not only on the initialization and drift errors of the low cost Inertial Motion Unit (IMU) gyros and the speed over ground sensor, but also on the performance of the sensor fusion filter used. This thesis will present the method by which an Extended Kalman Filter (EKF) was tuned after installation of an IMU in the ARIES Autonomous Underwater Vehicle. The goal of installing the IMU, analyzing the navigational results and tuning the EKF was to achieve navigational accuracy in the horizontal plane with a position error of less than one percent of distance traveled when compared to GPS. The research consisted of IMU installation and software modifications within the vehicle to fully realize the design goal. Data collection and analysis was conducted through field experiments and computer simulation. A significant result of this work was development of a pseudo-adaptive algorithm to vary the measurement noise values in selected channels to for a desired response in the filter and improve accuracy and precision in the state estimates.
Download or read book Analysis and Evaluation of a Novel Inertial Navigation System written by Edmund J. Koenke and published by . This book was released on 1969 with total page 60 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inertial navigation system indicates vertical using gyros as sensors.
Download or read book Analyzing and Modeling Low Cost MEMS IMUs for Use in an Inertial Navigation System written by Justin Michael Barrett and published by . This book was released on 2014 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Inertial navigation is a relative navigation technique commonly used by autonomous vehicles to determine their linear velocity, position and orientation in three-dimensional space. The basic premise of inertial navigation is that measurements of acceleration and angular velocity from an inertial measurement unit (IMU) are integrated over time to produce estimates of linear velocity, position and orientation. However, this process is a particularly involved one. The raw inertial data must first be properly analyzed and modeled in order to ensure that any inertial navigation system (INS) that uses the inertial data will produce accurate results. This thesis describes the process of analyzing and modeling raw IMU data, as well as how to use the results of that analysis to design an INS. Two separate INS units are designed using two different micro-electro-mechanical system (MEMS) IMUs. To test the effectiveness of each INS, each IMU is rigidly mounted to an unmanned ground vehicle (UGV) and the vehicle is driven through a known test course. The linear velocity, position and orientation estimates produced by each INS are then compared to the true linear velocity, position and orientation of the UGV over time. Final results from these experiments include quantifications of how well each INS was able to estimate the true linear velocity, position and orientation of the UGV in several different navigation scenarios as well as a direct comparison of the performances of the two separate INS units.
Download or read book Inertial Navigation Systems Analysis written by Kenneth R. Britting and published by John Wiley & Sons. This book was released on 1971 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Characterisation of a Low Cost Inertial Navigation System written by Andrew Scott and published by . This book was released on 2003 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation presents the outcomes of research and project work conducted to analyse, measure and quantify the performance of a blended inertial navigation system based on an indicative set of low-cost sensor devices. Research was performed in the area of low cost inertials measurement devices and navigation theory. A strapdown platform unit (SPU) was constructed around a selected set of indicative accelerometers and gyros. This system was supplemented with a low cost GPS receiver module. An INS Mock-up was developed, incorporating the SPU, appropriate data acquisition equipment, and a PC based modelling and analysis environment, using MATLAB. Plots of test results for both sensor and system analysise are provided. It is concluded that low cost inertial devices provide the potential for moderately accurate navigation solutions, however this characterisation remains highly dependant on application, filtering techniques, and the use of aiding devices such as GPS to constrain unbounded error growth.
Download or read book Analysis of an Optimal Celestial inertial Navigation Concept for Low thrust Interplanetary Vehicles written by Alan L. Friedlander and published by . This book was released on 1966 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Error Analysis of Celestial inertial Navigation for Low thrust Interplanetary Vehicles written by Alan L. Friedlander and published by . This book was released on 1967 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Low Cost Inertial Navigation written by Kevin J. Walchko and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Navigation is becoming more common in all areas of industry and commercial sectors. The main tool being utilized is GPS. However there are situations in which higher levels of accuracy are required which can not be achieved by GPS alone. This thesis will discuss the design and implementation of an inertial navigation system (INS) using an inertial measurement unit (IMU) and GPS. The INS is capable of providing continuous estimates of a vehicle's position and orientation. Typically IMUs are very expensive sensors; however this INS will use a "low cost" version costing around $5,000. Unfortunately with low cost also comes low performance and is the main reason for the inclusion of GPS into the system. Thus the IMU will use accelerometers and gyros to interpolate between the 1Hz GPS positions. All important equations regarding navigation are presented along with discussion. Results are presented to show the merit of the work and highlight various aspects of the INS.
Download or read book The Efficiency of a Low Cost 2 D Inertial Navigation System written by Christopher Steven Peurifoy and published by . This book was released on 2010 with total page 42 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Guidance and Control for Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation written by and published by . This book was released on 2005 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its guidance, navigation and control performance. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multi-rate, multi-process software architecture for ARIES autonomous control is provided. The architecture is designed to operate using either a single computer processor or two independent, cooperating processors linked through a network interface for improved load balancing. A dual computer implementation is presented here since each processor assumes different tasks for mission operation. Also included is a section on the underwater navigation method using a real-time extended Kalman filter that fuses all sensor data and computes the real time position, orientation, velocity, etc., of the vehicle. Experimental results for navigational accuracy using a DGPS / IMU / Doppler aided navigation system are presented with DGPS pop-up maneuvers.
Download or read book Fundamentals of Inertial Navigation Satellite based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer. This book was released on 2014-11-09 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.
Download or read book Development and Flight Test of a Robust Optical inertial Navigation System Using Low cost Sensors written by Michael B. Nielsen and published by . This book was released on 2008 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Strapdown Inertial Navigation Technology written by David H. Titterton and published by Institution of Electrical Engineers. This book was released on 1997 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inertial navigation is widely used for the guidance of aircraft, ships, missiles and vehicles. This introduction to the system covers basic principles, system mechanics, instrumentation, computation and design analysis. The text features a particularly contemporary treatment of inertial sensors and computational techniques for error analysis. It also describes integrated systems incorporating additional navigational aids and examples of current applications in both civilian and military situations.
Download or read book ARIES Navigation System Accuracy and Track Following written by Thanh V. Nguyen and published by . This book was released on 2002-03-01 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the greatest challenges associated with the Autonomous Underwater Vehicle (AUV) is reliability, accuracy, and the high precision navigation system for its submerged operations. Data collected for later analysis can be meaningful if and only if, the precise location of the vehicle is known at the time the information is recorded. A reliable AUV must be able to determine its global position in the absence of external transmitting devices. Dead reckoning is unreliable because of current conditions and random errors in the the velocity measurement that can be integrated and propagated in position calculations for long distance submerged travel. The alternative is the optimal integration of all available organic vehicle sensors to determine vehicle position. This requires the Kalman filtering method which merges all available vehicle sensors to estimate position. The AUV ARIES was operated in the Azores from August 10-12, 2001. All information were recorded and transferred into several files for all the mission runs during the exercise. This thesis investigated the accuracy of the Kalman filter navigation system during those runs. The thesis also examines the actual vehicle tracks during the experiment with both the design tracks and the model prediction tracks built using a simulation of the vehicle track following behavior.
Download or read book An Integrated INS GPS Navigation System for Small AUVS Using an Asynchronous Kalman Filter written by Glenn C. Hernandez and published by . This book was released on 1998 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Small AUV Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated INS/GPS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost Inertial Measurement Unit (IMU) to navigate between intermittent GPS fixes. This thesis presents recent improvements to the SANS hardware and software. The 486-based ESP computer used in the previous version of SANS is now replaced by an AMD 586DX133 based PC/104 computer to provide more computing power, reliability and compatibility with PC/104 industrial standards. The previous SANS navigation filter consisting of a complementary constant gain filter is now aided by an asynchronous Kalman filter. This navigation filter has six states for orientation estimation (constant gain) and eight states for position estimation (Kalman filtered). Low-frequency DGPS noise is explicitly modeled based on an experimentally obtained a autocorrelation function. Ocean currents are also modeled as a low-frequency random process. The asynchronous nature of GPS measurements resulting from AUV submergence or wave splash on the DGPS antennas is also taken into account by adopting an asynchronous Kalman filter as the basis for the SANS software. Matlab simulation studies of the asynchronous filter have been conducted and results documented in this thesis.
Download or read book Trends in Intelligent Robotics Automation and Manufacturing written by S.G. Poonambalam and published by Springer. This book was released on 2012-11-28 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the First International Conference on Intelligent Robotics and Manufacturing, IRAM 2012, held in Kuala Lumpur, Malaysia, in November 2012. The 64 revised full papers included in this volume were carefully reviewed and selected from 102 initial submissions. The papers are organized in topical sections named: mobile robots, intelligent autonomous systems, robot vision and robust, autonomous agents, micro, meso and nano-scale automation and assembly, flexible manufacturing systems, CIM and micro-machining, and fabrication techniques.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
