A Tightly Coupled Ins Gps Integration Using A Mems Imu
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| Author | : Jonathan M. Neu |
| Publisher | : |
| Total Pages | : 112 |
| Release | : 2004-09-01 |
| Genre | : Global Positioning System |
| ISBN | : 9781423520627 |
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 | : Aboelmagd Noureldin |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 324 |
| Release | : 2012-10-26 |
| Genre | : Technology & Engineering |
| ISBN | : 3642304664 |
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.
| Author | : David Titterton |
| Publisher | : IET |
| Total Pages | : 578 |
| Release | : 2004 |
| Genre | : Technology & Engineering |
| ISBN | : 0863413587 |
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 | : Priyanka Aggarwal |
| Publisher | : Artech House |
| Total Pages | : 213 |
| Release | : 2010 |
| Genre | : Technology & Engineering |
| ISBN | : 1608070441 |
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 | : Jiadong Sun |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 679 |
| Release | : 2012-04-05 |
| Genre | : Technology & Engineering |
| ISBN | : 3642291864 |
Proceedings of the 3rd China Satellite Navigation Conference (CSNC2012) presents selected research papers from CSNC2012, held on 15-19 May in Guanzhou, China. These papers discuss the technologies and applications of the Global Navigation Satellite System (GNSS), and the latest progress made in the China BeiDou system especially. They are divided into 9 topics to match the corresponding sessions in CSNC2012, which broadly covered key topics in GNSS. Readers can learn about the BeiDou system and keep abreast of the latest advances in GNSS techniques and applications. SUN Jiadong is the Chief Designer of the Compass/BeiDou system, and the Academician of Chinese Academy of Sciences; LIU Jingnan is a professor at Wuhan University, and the Academician of Chinese Academy of Engineering; YANG Yuanxi is a professor at China National Administration of GNSS and Applications, and the Academician of Chinese Academy of Sciences; FAN Shiwei is a researcher on satellite navigation.
| Author | : Christopher Jekeli |
| Publisher | : Walter de Gruyter GmbH & Co KG |
| Total Pages | : 424 |
| Release | : 2023-07-24 |
| Genre | : Science |
| ISBN | : 3110784327 |
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 Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.
| Author | : Mohinder S. Grewal |
| Publisher | : John Wiley & Sons |
| Total Pages | : 416 |
| Release | : 2007-03-05 |
| Genre | : Science |
| ISBN | : 0470099712 |
An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.
| Author | : Paul D. Groves |
| Publisher | : Artech House |
| Total Pages | : 800 |
| Release | : 2013-04-01 |
| Genre | : Technology & Engineering |
| ISBN | : 1608070050 |
This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies .. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.
| Author | : David Jin |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 651 |
| Release | : 2012-01-24 |
| Genre | : Technology & Engineering |
| ISBN | : 3642272878 |
This volume presents the main results of 2011 International Conference on Electronic Engineering, Communication and Management (EECM2011) held December 24-25, 2011, Beijing China. The EECM2011 is an integrated conference providing a valuable opportunity for researchers, scholars and scientists to exchange their ideas face to face together. The main focus of the EECM 2011 and the present 2 volumes “Advances in Electronic Engineering, Communication and Management” is on Power Engineering, Electrical engineering applications, Electrical machines, as well as Communication and Information Systems Engineering.
| Author | : James L. Martin |
| Publisher | : CRC Press |
| Total Pages | : 5742 |
| Release | : 2013-12-04 |
| Genre | : Science |
| ISBN | : 1138000868 |
Focusing on fundamental principles, Hydro-Environmental Analysis: Freshwater Environments presents in-depth information about freshwater environments and how they are influenced by regulation. It provides a holistic approach, exploring the factors that impact water quality and quantity, and the regulations, policy and management methods that are necessary to maintain this vital resource. It offers a historical viewpoint as well as an overview and foundation of the physical, chemical, and biological characteristics affecting the management of freshwater environments. The book concentrates on broad and general concepts, providing an interdisciplinary foundation. The author covers the methods of measurement and classification; chemical, physical, and biological characteristics; indicators of ecological health; and management and restoration. He also considers common indicators of environmental health; characteristics and operations of regulatory control structures; applicable laws and regulations; and restoration methods. The text delves into rivers and streams in the first half and lakes and reservoirs in the second half. Each section centers on the characteristics of those systems and methods of classification, and then moves on to discuss the physical, chemical, and biological characteristics of each. In the section on lakes and reservoirs, it examines the characteristics and operations of regulatory structures, and presents the methods commonly used to assess the environmental health or integrity of these water bodies. It also introduces considerations for restoration, and presents two unique aquatic environments: wetlands and reservoir tailwaters. Written from an engineering perspective, the book is an ideal introduction to the aquatic and limnological sciences for students of environmental science, as well as students of environmental engineering. It also serves as a reference for engineers and scientists involved in the management, regulation, or restoration of freshwater environments.
