Inertial
Inertial Navigation
Inertial Navigation
The process of integrating angular velocity & acceleration
to determine Ones position, velocity, and attitude (PVA)
Effectively dead reckoning
To measure the acceleration and angular velocity vectors
we n
Inertial
Inertial Sensors
Gyroscopes
Gyroscope Angular Rate Sensor
Three main types
Spinning Mass
Optical
Ring Laser Gyros
Fiber Optic Gyros
Vibratory
Coriolis Effect devices
MEMS
4 March 2011
EE 570: Location and Navigation: Theory & Practice
Lectu
Curvelinear Analysis
Some notation definitions needed to use "intuitive" variable names
Define a few Variables
R0 is the earths semi-major axis 6.378137 106 meters
RE ir the transverse radius of curvature
R0
RE
1
e2
;
2
Sin Lb
RN ir the meridian radius of
Earth
Earth Shape
Geoid and Reference Ellipsoid
Geoid: Gravitational equipotential
surface which best fits (in a least
square sense) the mean sea level
Reference Ellipsoid: A
mathematical approximation to
the geoid
Reference
Ellipsoid
Geoid
The World Geo
Lecture
Power Spectral Density Estimation
EE 570: Location and Navigation
Lecture Notes Update on April 5, 2011
Aly El-Osery, Electrical Engineering Dept., New Mexico Tech
.1
The purpose is to estimate the distribution of power in a signal. Unfortunately,
Lecture
Gyro and Accel Noise Characteristics
EE 570: Location and Navigation
Lecture Notes Update on November 15, 2011
Aly El-Osery, Electrical Engineering Dept., New Mexico Tech
.1
1
Allan Variance
Allan Variance
1. Divide your N-point data sequence into
Lecture
INS/GPS Integration
EE 570: Location and Navigation
Lecture Notes Update on May 1, 2011
Aly El-Osery, Electrical Engineering Dept., New Mexico Tech
.1
1
Overview
Need for Integration
Gyros
Accelerometers
Position
b
ib
fb
Mechanization
Equations
r
Lecture
On-Line Bayesian Tracking
EE 570: Location and Navigation
Lecture Notes Update on April 11, 2011
Aly El-Osery, Electrical Engineering Dept., New Mexico Tech
.1
Objective
Sequentially estimate on-line the states of a system as it changes over time
ATA
The Global Positioning System (GPS)
Friday 15 April 2011
ATA
The Global Positioning System
Overview
The GPS is a Space-Based Global Navigation Satellite
System (GNSS)
Space segment (satellites)
Satellites launched from 1989 (first) to 1994 (24th)
INS
INS Initialization
IMU Measurements
How can we initialize the INS?
Typically from GPS or other position
fixing source
Prior
Attitude
Prior PVA
Position and Velocity
b
ib
1. Attitude
Update
Prior
b
f ib
2. SF
Transform
3. Velocity
Update
Velocity
Pri