Tightly Integrated Attitude Determination Methods for Low-cost Inertial Navigation PDF Download

Author: Yunchun Yang
Publisher:
ISBN:
Category : Inertial navigation (Aeronautics)
Languages : en
Pages : 414

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Author: Antonio Giustino
Publisher:
ISBN: 9781423556541
Category :
Languages : en
Pages : 126

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Book Description
The near future will see a proliferation of small low cost communication and science satellites with modest (Æ0.1-0.5 deg) pointing requirements which will use attitude determination Systems (ADSs) of low power, weight, size and cost. This thesis is a study into the integration issues of such a system, that uses micro-mechanical inertial sensors and an interferometric GPS (IGPS) attitude determining receiver that are tightly coupled using "model based" estimation techniques. The integration issues analyzed include: the effect on performance of limited IGPS use, the effect on performance of various gyro qualities and model accuracies, the inherent robustness to failure of the system and a power consumption analysis for a minimum energy IGPS receiver. It was found that attitude performance varied less than 0.05 degrees (RSS) when the interval between GPS phase measurements was varied from once every second to once every 30 seconds. This justifies the development of a minimum energy receiver to take advantage of the power savings of less frequent GPS measurements. During times of low dynamic model accuracy, the IGPS/MM Gyro ADS was bound by the steady state attitude error of the IGPS which averages a 1 sigma RSS error of about 0.28 degrees within the GPS update range mentioned above. Attitude error also depends on the gyro quality, and various projected system accuracies are given using several gyro error models. Real micro-mechanical gyro data from a prototype gyro was successfully integrated with real GPS phase measurements using an Extended Kalman filter. Failure scenarios and power expenditures were also analyzed using steady state linear covariance analysis as well as a space simulation which uses orbital parameters of a telecommunication satellite constellation. Total power expenditure of 200 mWatts can be achieved for this system and still fulfill mission requirements.

Author: Priyanka Aggarwal
Publisher: Artech House
ISBN: 1608070441
Category : Technology & Engineering
Languages : en
Pages : 213

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Book Description
Due to their micro-scale size and low power consumption, Microelectromechanical systems (MEMS) are now being utilized in a variety of fields. This leading-edge resource focuses on the application of MEMS inertial sensors to navigation systems. The book shows you how to minimize cost by adding and removing inertial sensors. Moreover, this practical reference provides you with various integration strategies with examples from real field tests. From an introduction to MEMS navigation related applicationsOC to special topics on Alignment for MEMS-Based NavigationOC to discussions on the Extended Kalman Filter, this comprehensive book covers a wide range of critical topics in this fast-growing area."

Author: Wendy Ilene Sullivan
Publisher:
ISBN:
Category :
Languages : en
Pages : 94

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Author: J.R. Wertz
Publisher: Springer Science & Business Media
ISBN: 9400999070
Category : Technology & Engineering
Languages : en
Pages : 877

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Book Description
Roger D. Werking Head, Attitude Determination and Control Section National Aeronautics and Space Administration/ Goddard Space Flight Center Extensiye work has been done for many years in the areas of attitude determination, attitude prediction, and attitude control. During this time, it has been difficult to obtain reference material that provided a comprehensive overview of attitude support activities. This lack of reference material has made it difficult for those not intimately involved in attitude functions to become acquainted with the ideas and activities which are essential to understanding the various aspects of spacecraft attitude support. As a result, I felt the need for a document which could be used by a variety of persons to obtain an understanding of the work which has been done in support of spacecraft attitude objectives. It is believed that this book, prepared by the Computer Sciences Corporation under the able direction of Dr. James Wertz, provides this type of reference. This book can serve as a reference for individuals involved in mission planning, attitude determination, and attitude dynamics; an introductory textbook for stu dents and professionals starting in this field; an information source for experimen ters or others involved in spacecraft-related work who need information on spacecraft orientation and how it is determined, but who have neither the time nor the resources to pursue the varied literature on this subject; and a tool for encouraging those who could expand this discipline to do so, because much remains to be done to satisfy future needs.

Author: S. Ebcin
Publisher:
ISBN:
Category :
Languages : en
Pages : 12

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Book Description
Accurate navigation information "position, velocity, and attitude" can be determined using optical measurements from imaging sensors combined with an inertial navigation system. This can be accomplished by tracking the locations of stationary optical features in multiple images and using the resulting geometry to estimate and remove inertial errors. In previous research efforts, we have demonstrated the effectiveness of fusing imaging and inertial sensors using an extended Kalman filter "EKF" algorithm. In this approach, the image feature correspondence search was aided using the inertial sensor measurements, resulting in more robust feature tracking. The resulting image-aided inertial algorithm was tested using both simulation and experimental data. While the tightly-coupled approach stabilized the feature correspondence search, the overall problem remained prone to filter divergence due to the well-known consequences of image scale ambiguity and the nonlinear measurement model. These effects are evidenced by the consistency divergence in the EKF implementation seen during our longdurationMonte-Carlo simulations. In other words, the measurement model is highly sensitive to the current parameter estimate, which invalidates the linearized measurement model assumed by the EKF. The unscented "sigma-point" Kalman filter "UKF" has been proposed in the literature in order to address the large class of recursive estimation problems which are not well-modeled using linearized dynamics and Gaussian noise models assumed in the EKF. The UKF leverages the unscented transformation in order to represent the state uncertainty using a set of carefully chosen sample points. This approach maintains mean and covariance estimates accurate to at least second order, by using the true nonlinear dynamics and measurement models. In this paper, a variation of the UKF is applied to the.

Author: David Titterton
Publisher: IET
ISBN: 0863413587
Category : Technology & Engineering
Languages : en
Pages : 578

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Book Description
Inertial navigation is widely used for the guidance of aircraft, missiles ships and land vehicles, as well as in a number of novel applications such as surveying underground pipelines in drilling operations. This book discusses the physical principles of inertial navigation, the associated growth of errors and their compensation. It draws current technological developments, provides an indication of potential future trends and covers a broad range of applications. New chapters on MEMS (microelectromechanical systems) technology and inertial system applications are included.

Author: Jonathan M. Neu
Publisher:
ISBN: 9781423520627
Category : Global Positioning System
Languages : en
Pages : 112

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Book Description
Micro-Electro-Mechanical Systems (MEMS) technology holds great promise for future navigation systems because of the reduced size and cost of MEMS inertial sensors relative to conventional devices. Current MEMS devices are much less accurate than standard inertial sensors, but they can still be useful. In this thesis, data was recorded from an inexpensive MEMS inertial measurement unit and integrated with GPS measurements using a tightly-coupled Kalman filter. The overall goal of this research is to investigate the usefulness of MEMS sensors for a small, real-time, low-cost INS/GPS integration. A golf cart was used to collect dynamic data, along with a commercial INS/GPS system to provide reference data. This data was then post-processed, and the filter's performance in the position, velocity, and attitude outputs were evaluated by comparing them to the reference system. The important system features of system alignment, bias feedback, and INS resets are described, and the filter's performance is analyzed using its estimate and covariance outputs and comparing them to the true error. Filter residuals are also shown and discussed. The final results show that, with adequate processing available, the INS/GPS filter using the MEMS instruments provides good position, velocity, and attitude results over a period of up to 15 minutes, as long as the data is at least somewhat dynamic. Without vehicle motion, the vehicle yaw state tends to wander excessively, due to the bias and noise of the MEMS gyroscopes. Over a long static period, the filter's position outputs would most likely diverge and become unstable. Recommendations are made to combat this problem, among them to conduct more characterization of the MEMS sensors, and to add GPS velocity measurements as an input to the filter.

Author: Averil Burton Chatfield
Publisher: AIAA
ISBN: 9781600864278
Category : Inertial navigation systems
Languages : en
Pages : 368

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Book Description

Author: F. Landis Markley
Publisher: Springer
ISBN: 1493908022
Category : Technology & Engineering
Languages : en
Pages : 486

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Book Description
This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.