Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 2

Golovan, A. A.; Nikitin, I V

doi:10.3103/s0027133015040056

Cited by 3 publications

(2 citation statements)

References 2 publications

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“…When a walker is moved through wheel rolling, its movement and velocity can be estimated using encoders [30]. Besides, the yaw angle of the walker can be computed and used to derive a measurement update equation for Kalman filter.…”

Section: Methodsmentioning

confidence: 99%

Inertial navigation algorithm for trajectory of front-wheel walker estimation

Doan

Pham

2019

Heliyon

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In this paper, we propose a system for trajectory of walker estimation. The system consists of an inertial measurement unit (IMU) and two encoders attached to a front-wheel walker. The IMU is employed to estimate the trajectory of the walker while the encoders are used to update the trajectory of the walker during rolling on the floor. Three update equations are proposed: quaternion update using the vertical vector, quaternion update using the yaw angle of the walker and position update using encoders. We implemented an experiment which focused on four walking styles of: continuous rolling, step by step rolling, complete lifting and 2 back tips lifting. Results of the experiment show the appropriateness of proposed update equations in all cases in general and in continuous rolling in particular.

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Section: Methodsmentioning

confidence: 99%

Inertial navigation algorithm for trajectory of front-wheel walker estimation

Doan

Pham

2019

Heliyon

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“…In contrast, the odometer-assisted inertial navigation system, whether in navigation positioning or initial alignment, has better autonomy and anti-jamming performance. In [12,13], the navigation problem for a land vehicle whose instrumental equipment consists of a strapdown inertial navigation system and an odometer is considered, and a number of very useful functional schemes of solving this problem are discussed in detail, and the specific mathematical description of the corresponding algorithms is presented. In [7,8], high-precision alignment of the moving base was achieved using an odometer-assisted strapdown inertial navigation system without requiring the carrier vehicle to perform a special auxiliary maneuver or stopover.…”

Section: Introductionmentioning

confidence: 99%

An Alignment Method for Strapdown Inertial Navigation Systems Assisted by Doppler Radar on a Vehicle-Borne Moving Base

Yang

et al. 2019

Sensors

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In this study, we investigated a novel method for high-accuracy autonomous alignment of a strapdown inertial navigation system assisted by Doppler radar on a vehicle-borne moving base, which effectively avoids the measurement errors caused by wheel-slip or vehicle-sliding. Using the gyroscopes in a strapdown inertial navigation system and Doppler radar, we calculated the dead reckoning, analyzed the error sources of the dead reckoning system, and established an error model. Then the errors of the strapdown inertial navigation system and dead reckoning system were treated as the states. Besides velocity information, attitude information was cleverly introduced into the alignment measurement to improve alignment accuracy and reduce alignment time. Therefore, the first measurement was the difference between the output attitude and velocity of the strapdown inertial navigation system and the corresponding signals from the dead reckoning system. In order to further improve the alignment accuracy, more measurement information was introduced by using the vehicle motion constraint, that is, the velocity output projection of strapdown inertial navigation system along the transverse and vertical direction of the vehicle body was also used as the second measurement. Then the corresponding state and measurement equations were established, and the Kalman filter algorithm was used for assisted alignment filtering. The simulation results showed that, with a moving base, the misalignment angle estimation accuracy was better than 0.5’ in the east direction, 0.4’ in the north direction, and 3.2’ in the vertical direction.

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INS/Odometer Integration: Positional Approach

Golovan

2021

Gyroscopy Navig.

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Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 2

Cited by 3 publications

References 2 publications

Inertial navigation algorithm for trajectory of front-wheel walker estimation

Inertial navigation algorithm for trajectory of front-wheel walker estimation

An Alignment Method for Strapdown Inertial Navigation Systems Assisted by Doppler Radar on a Vehicle-Borne Moving Base

INS/Odometer Integration: Positional Approach

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