Fundamentals Of Navigation And Inertial Sensors Pdf
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- AERO4701: Space Engineering
- An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines
- Inertial navigation system
AERO4701: Space Engineering
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.
Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more. Springer Professional. Back to the search result list. Table of Contents Frontmatter Chapter 1. Introduction Abstract. Early navigation primarily dealt with vessels traveling in sea. However, it has now permeated into every imaginable form of transportation as well as various other applications including location-based services, search and rescue, law enforcement, road and air travel, remote asset tracking, fleet management, intelligence gathering, sports, public safety, and environmental assessment and planning El-Rabbany Advances in microelectronics and miniaturization of integrated circuits have facilitated the production of inexpensive inertial sensors, global positioning system GPS receivers and powerful computers.
This has placed navigation systems within easy reach of low cost applications. Navigation algorithms involve various coordinate frames and the transformation of coordinates between them. This information is further transformed to a navigation frame. A GPS receiver initially estimates the position and velocity of the satellite in an inertial orbital frame.
Since measured quantities are required to be transformed between various reference frames during the solution of navigation equations, it is important to know about the reference frames and the transformation of coordinates between them. But first we will review some of the basic mathematical techniques. The global positioning system GPS was developed by the US Department of Defense in the early s to serve military navigational requirements. The first satellite was launched in and the system was declared operational in An inertial navigation system is an autonomous system that provides information about position, velocity and attitude based on the measurements by inertial sensors and applying the dead reckoning DR principle.
Given specified initial conditions, one integration of acceleration provides velocity and a second integration gives position. Angular rates are processed to give the attitude of the moving platform in terms of pitch, roll and yaw, and also to transform navigation parameters from the body frame to the local-level frame.
Modeling requires representing real world phenomena by mathematical language. To keep the problem tractable the goal is not to produce the most comprehensive descriptive model but to produce the simplest possible model which incorporates the major features of the phenomena of interest.
The model is also restricted by the ability of mathematics to describe a phenomenon. This book deals with models which describe the motion of an object on or near the surface of the Earth.
This kind of motion is greatly influenced by the geometry of the Earth. There are two broad categories for modeling motion: dynamic and kinematic. The accuracy of an INS is affected by various sources. These include errors during the initial alignment procedure, sensor errors, and the limitations of the processing algorithm. To see the effect of these errors on the navigational output parameters position, velocity and attitude it is vital to understand their propagation through the navigation equations.
Once the nature of the errors is known, one can mitigate them by proper modeling and estimation techniques. This usually requires external aiding sources in order to limit the errors and predict their behavior. Hence error models are required for the analysis and estimation of the error sources associated with any inertial navigation system. As stated in the previous chapter the accuracy of an INS is affected by the errors in the inertial sensors, initialization and computational algorithms.
The situation is worse for the low cost MEMS sensors where the INS output can drift rapidly and render them essentially unusable as standalone sensors for navigation applications owing to severe stochastic errors. It has good short term accuracy and provides attitude information in addition to position and velocity.
This chapter discusses a dead reckoning DR solution which is suitable for any wheel-based platform integrated with GPS. After discussing and analyzing the performance of a full IMU system, the theory of the methods employed to tackle sources of errors will be outlined. The reduced inertial sensor system is introduced and compared to a traditional full IMU, and its mechanization equations derived.
This is followed by a description of both loosely and tightly coupled KF-based integration of this reduced inertial sensor system with GPS, including the linearized system model and measurement model for each integration scheme. In Chap. In this chapter we will look at the performance of these integration techniques using real inertial measurements and GPS data collected during road test trajectories.
Publisher Springer Berlin Heidelberg. Print ISBN Electronic ISBN Authors: Aboelmagd Noureldin Tashfeen B. Karamat Jacques Georgy.
An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines
NOTE: Short courses are available only upon request, at our location or at yours. To request a registration form or a course cost-estimate call Power Seminar in Navigation 1 day - This overview series of lectures introduces the art and science of navigation spanning the classical techniques of celestial astronomy to the future applications of advanced Intelligent Transportation Systems. Introductory lectures on the role of navigation in military systems, the history of navigation and the future of navigation are provided. The status and fundamentals of radio, satellite and inertial navigation are addressed.
Inertial Navigation System Description. Navigation Errors Inertial Sensors. MEMS based Inertial Sensors Satellite Navigation 15.
Inertial navigation system
Author Contributions: The work presented in this paper was carried out in collaboration between all authors. Youssef Tawk conceived, and designed the TCAPLL architecture, carried out the simulations and the field vehicle test measurements, and wrote the paper. The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated. To improve the navigation performance in such environments, several enhancement methods can be implemented.
An indoor navigation system based on stereo camera and inertial sensors with points and lines is proposed to further improve the accuracy and robustness of the navigation system in complex indoor environments. The point and line features, which are fast extracted by ORB method and line segment detector LSD method, are both employed in this system to improve its ability to adapt to complex environments. In addition, two different representations of lines are adopted to improve the efficiency of the system. Besides stereo camera, an inertial measurement unit IMU is also used in the system to further improve its accuracy and robustness.
If you wish to contribute or participate in the discussions about articles you are invited to join SKYbrary as a registered user. On the one hand the term INS is used as a blanket description for a wide variety of navigation sensors and systems of different design; and on the other hand, it is also used to describe a specific version of these sensors and systems!
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