Inertial Navigation Systems with Geodetic Applications
This book covers all aspects of inertial navigation systems INS , including the sensor technology and the estimation of instrument errors, as well as their integration with the Global Positioning System GPS for geodetic applications. Complete mathematical derivations are given. Both stabilized and strapdown mechanizations are treated in detail.
Derived algorithms to process sensor data and a comprehensive explanation of the error dynamics provide not only an analytical understanding but also a practical implementation of the concepts. A self-contained description of GPS, with emphasis on kinematic applications, is one of the highlights in this book.
The text is of interestto geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. See All Customer Reviews. That is why use of robust aircraft-autonomous measurements is paramount. Classical AHRS architectures that are suitable for most of the application usually require rate sensors accuracy of 0.
However direct reference of attitude from sensed acceleration is lost when the platform is accelerated. Skip to content Inertial Navigation.
The most common accelerometer technologies can be grouped into these three categories: Pendulum accelerometers measure the inertial force on a proof mass in the form of its deflection from the zero-load position open loop or in the form of necessary power to keep the proof mass in its initial position closed loop. Vibrating bar accelerometers VBA measure the inertial force on a proof mass as a load-induced change of oscillation frequency of a vibrating structure that constrains the proof mass.
Pendulum Integrating Gyro Accelerometers PIGA are mechanical gyroscopes with a mass asymmetry that converts linear acceleration into a torque. Gyroscope technologies can be grouped in the following three categories: Mechanical gyroscopes are based on the gyroscopic forces that act on a spinning wheel.
Inertial Navigation Systems with Geodetic Applications
Analogous to the accelerometers, these forces respectively moments can be measured open loop or closed loop. Optical gyroscopes are based on the Sagnac effect. Light is sent in both directions of a closed optical path. Rotation of this path leads to a phase-difference of the two beams.
This principle is used in MEMS tuning-fork gyroscopes as well as vibrating shell gyroscopes. Lawrence, Modern inertial technology: Navigation, guidance, and control , 2nd ed.
New York, NY: Springer, Titterton and J. Weston, Strapdown inertial navigation technology , 2nd ed. Stevenage: Institution of Electrical Engineers, New York: Springer, Stationary Alignment For starting inertial navigation the initialization of position, velocity and orientation is required. Inertial Navigation According to Newtonian physics the measurements of the inertial sensors Leveling and gyrocompassing using inertial sensorsare made with respect to inertial space.
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Leveling and gyrocompassing using inertial sensors In order to integrate inertial sensor measurements for spatial velocity and position, gravitation and inertial accelerations have to be corrected. Jekeli, Inertial navigation systems with geodetic applications.
EPB1 - Method for measuring force-dependent gyroscope sensitivity - Google Patents
Berlin: de Gruyter, Dambeck and B. Inertial Sensor Error Propagation Navigation states initialization errors, inertial sensor triads measurement errors and especially gravity model errors are propagated through application of nonlinear inertial navigation ordinary differential equations.
Inertial Sensor Error Propgataion Matrix The linearized navigation error ordinary differential equations are the basis for navigation state covariance propagation and correction in an extended Kalman filter.
Gyrocompass orientation stability Classical mechanical gyrocompasses are based on a spinning rotor that is mounted on a gimbaled platform. Literature D. Major, Quo vadis: Evolution of modern navigation: The rise of quantum techniques.
Inertial Navigation Systems with Geodetic Applications / Edition 1
New York u. Dead Reckoning Traditional marine navigation is a classic example of dead reckoning.
Literature P. Boston, Mass. Literature J. Farrell, Aided navigation: GPS with high rate sensors.
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The text is of interestto geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. Ordinary Differential Equations.