Control, navigation, and guidance

Draper, C. S.

doi:10.1109/mcs.1981.1100795

Cited by 13 publications

(5 citation statements)

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“…The strapdown inertial navigation system can provide stable and reliable navigation information for passenger/cargo ships, submarines, ships and other military carriers [ 1 , 2 , 3 , 4 ]. The disadvantage is that the long-endurance navigation accuracy is limited by the accuracy of its own inertial device, and the improvement of the accuracy of the inertial device is limited by research costs, manufacturing materials and the manufacturing process [ 5 , 6 , 7 , 8 ]. In addition, online calibration technology and rotation modulation technology can reduce navigation errors at the system level.…”

Section: Introductionmentioning

confidence: 99%

A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems

Zha

Feng

et al. 2023

Sensors

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Compared with the strapdown inertial navigation system (SINS), the rotation strapdown inertial navigation system (RSINS) can effectively improve the accuracy of navigation information, but rotational modulation also leads to an increase in the oscillation frequency of attitude errors. In this paper, a dual-inertial navigation scheme that combines the strapdown inertial navigation system and the dual-axis rotation inertial navigation system is proposed, which can effectively improve the attitude error accuracy in the horizontal direction by using the high-position information of the rotation inertial navigation system and the stability characteristics of the attitude error of the strapdown inertial navigation system. Firstly, the error characteristics of the strapdown inertial navigation system and the rotation strapdown inertial navigation system are analyzed, and then the combination scheme and Kalman filter are designed according to the error characteristics, and finally, the simulation experiment shows that the pitch angle error of the dual inertial navigation system is reduced by more than 35% and the roll angle error is reduced by more than 45% compared with the rotation strapdown inertial navigation system. Therefore, the combination scheme of double inertial navigation proposed in this paper can further reduce the attitude error of the rotation strapdown inertial navigation system, and at the same time, the two sets of inertial navigation systems can also enhance the reliability of ship navigation.

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Section: Introductionmentioning

confidence: 99%

A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems

Zha

Feng

et al. 2023

Sensors

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“…Inertial navigation systems (INSs) measure external information through inertial sensors, and then generate navigation information through integration processing. Thus, they have the characteristics of being autonomous and small, and achieve full space-time and all-weather navigation [1][2][3][4][5][6]. However, the errors of the inertial sensors will be integrated over time.…”

Section: Introductionmentioning

confidence: 99%

Novel rotation scheme for dual-axis rotational inertial navigation system based on body diagonal rotation of inertial measurement unit

Wei

Zha

Chang

2022

Meas. Sci. Technol.

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Traditional rotational inertial navigation systems are based on rotation around one or two sensitive axes of inertial sensors. However, as the rotation and sensitive axes of inertial sensors lie along the same direction, it is difficult to modulate the relative error of the inertial sensor in the axial direction. This paper proposes a dual-axis rotation scheme based on the diagonal rotation of the inertial measurement unit (IMU) body. The scheme selects the body diagonal of the three orthogonal inertial sensors of the IMU as the horizontal rotation axis, and sets the vertical rotation axis orthogonal to this axis. As the rotation axis and the inertial sensor are oriented in different directions, at any moment of rotation, the errors of the inertial sensor in the three axial directions can all be modulated, especially the installation error. First, a mathematical model based on the diagonal rotation of the IMU body is established. On this basis, the coordinate transformation relationship and the error equations are derived, and the error propagation characteristics are obtained. Finally, the comprehensive error of the system is tested. Under the same error conditions, the system latitude error is reduced from 0.1089 nautical miles/72 h in the traditional scheme to 0.0368 nautical miles/72 h, and the longitude error is reduced from 0.3587 nautical miles/72 h to 0.1332 nautical miles/72 h. These results verify the effectiveness of the proposed scheme. This method of rotating around the body diagonal of the IMU also exhibits certain advantages when applied to other rotational inertial navigation schemes.

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“…Indeed, a motion control system is usually designed as three independent modules: Guidance, Navigation, and Control (GNC) systems [7]. Such systems have been developed together with the inertial system diffusion [8] and interact with each other through data and signal transmission. The overall structure is a cascade of logics integrated into a hierarchical data routing where signals are processed, feedbacked, and updated at each workflow level.…”

Section: Introductionmentioning

confidence: 99%

Dynamic target chasing: parameters and performance indicators assessment

2022

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This paper aims to present a systematic approach to evaluate the parameters affecting the vessel's performances in the target tracking motion control scenario and, for this reason, three guidance laws have been formalised. Such scenario consists of reaching and following a target of which it is only possible to know the instantaneous position and velocity, hence when the future motion is unknown. The standard Line-Of-Sight, Pure Pursuit, and Constant Bearing have been modified and deeply tested. The target tracking scenario has been divided into two parts: the target approach and following strategies. The increase in system complexity needs advanced tools to predict the vehicle response in both standard and non-standard conditions. Simulation can support the designer's effort for the transition from a traditional to an autonomous ship in the whole ship design; hence, all the guidance laws have been virtually tested and a sensitivity analysis is carried out to understand each parameter effect. Several manoeuvres have been performed and the results are shown to highlight benefits and drawbacks for each law. Eventually, key performance indicators are outlined and some suggestions are given to the proper settings of the guidance law parameters in the function of the specific mission.

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Control, navigation, and guidance

Cited by 13 publications

References 0 publications

A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems

A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems

Novel rotation scheme for dual-axis rotational inertial navigation system based on body diagonal rotation of inertial measurement unit

Dynamic target chasing: parameters and performance indicators assessment

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