Low cost inertial/GPS integrated position and orientation system for marine applications

Scherzinger, B.; Hutton, Joseph; McMillan, J. C.

doi:10.1109/62.587812

Cited by 4 publications

(3 citation statements)

References 7 publications

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“…Examples of this work is outlined in [13]. Marine applications have also used multi-IMU (2-IMUs) for fault detection and redundancy in case of a single IMU failure such as in [14]. Some results are available for position-only multi-IMU pedestrian navigation architectures when a global positioning system (GPS) measurement is also available.…”

Section: Previous Workmentioning

confidence: 99%

Multi-IMU Based Alternate Navigation Frameworks: Performance & Comparison for UAS

Patel

Faruque

2022

IEEE Access

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On-board state estimation is a persistent challenge to fielding unmanned aerial systems (UAS), particularly when global positioning system (GPS) measurements are not available. The dominant estimation tool remains the extended Kalman filter (EKF) applied to an inertial measurement unit (IMU). The growing availability of low-cost commercial-grade IMUs raises questions about how to best improve sensor readings into an estimate when measurements are available from multiple IMUs. This paper evaluates four different approaches to attitude estimation from multiple IMU measurements and their application in high dynamic motion. The four approaches are fusion of measurements (virtual IMU), fusion of state estimates (Federated KF), feedback fusion state estimate (Feedback Federated KF), and an EKF design incorporating the additional measurements (Augmented KF); these correspond to fusion before, within, or after state estimation. The performance of the approaches are quantified for varying IMU number theoretically and experimentally. The experiments use on-board autopilot hardware implementations of the estimators during maneuvers in a motion capture volume and flights on-board an Unmanned Aerial Systems (UAS) implementation, with the peak and root-mean-square (RMS) errors used to quantify accuracy. The RMS error results indicate that the feedback federated Kalman Filter using five IMUs returns 38% compared to general federated Kalman Filter using 37% accuracy improvement over a single IMU. This improvement compares to a 19% improvement for virtual IMU and 9% improvement for the Augmented KF respectively. These results indicate that both the Federated KF approach achieves the lowest RMS error relative to the virtual IMU and augmented KF approaches and inform the design of multi-IMU UAS pose estimators.

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Section: Previous Workmentioning

confidence: 99%

Multi-IMU Based Alternate Navigation Frameworks: Performance & Comparison for UAS

Patel

Faruque

2022

IEEE Access

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“…The high-precision binocular camera is used to measure the relative position R ' i (i = 1, 2, 3) between MIMU and antennas 1, 2, and 3, and the double theodolite is used to measure the relative position R ' i (i = 4, 5, 6) between MIMU and antennas 4, 5, and 6. According to R ' i (i = 1, 2, 3, 4, 5, 6) and Equation ( 26), the relative position R ' 1i (i = 2, 3, 4, 5, 6) between antenna 1 and other antennas can be obtained and is further submitted into Equation (28) to gain the baseline length L 1i (i = 2, 3,4,5,6) between antenna 1 and other antennas. The initial baseline length is listed in Table 1.…”

Section: Experimental Equipmentmentioning

confidence: 99%

“…For an airborne remote sensing system with a single antenna, such as Synthetic Aperture Radar (SAR), its high-precision two-dimensional (2-D) imaging needs a Position and Orientation System (POS) to provide motion compensation [1]. POS is an integrated navigation system with multiple sensors [2,3] and is composed of a high-precision Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS), and a POS Computer System (PCS) [4][5][6]. In recent years, on the basis of the single-antenna system, the multi-antenna airborne remote sensing system represented by array SAR has been developed and quickly become the most attractive and competitive development direction, because it can bring about all-weather three-dimensional (3-D) imaging [7,8] and includes multi-baseline interferometry [9], multi-input and multi-output [10], and tomography modes [11].…”

Section: Introductionmentioning

confidence: 99%

Design and Development of Array POS for Airborne Remote Sensing Motion Compensation

Bao

et al. 2022

Remote Sensing

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Multi-antenna airborne remote sensing systems have received more attention recently because they can realize high-resolution three-dimensional (3-D) imaging, such as array Synthetic Aperture Radar (SAR). Their high-precision imaging needs multi-antenna motion and relative motion between antennas. However, the existing facility and technology hardly meet the motion measurement precision demand of array SAR. To solve this problem, an array Position and Orientation System (POS) for airborne remote sensing motion compensation is designed and developed. It is composed of a high-precision POS, several small-size Inertial Measurement Units (IMU), and a 6-D deformation measurement system based on Fiber Bragg Grating (FBG) sensors. Firstly, the transfer alignment method based on 6-D deformation is used to measure the relative motion between array POS. Then, the motion conversion method from array POS to array SAR is presented to obtain the multi-antenna motion and relative motion between antennas. Finally, the ground experiment results identify that the accuracies of multi-antenna position, multi-antenna attitude, and flexible baseline length between antennas are superior to 3 cm, 0.01°, and 0.1 mm, respectively, which can meet the motion measurement precision demand of array SAR.

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Multipath Interference Order Selection and Mitigation in GPS-Based Attitude Determination Systems

Scheim

2003

Navigation

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INTRODUCTIONAttitude determination systems are important in many fields, such as land static measurements (geodesy) and mobile applications, as well as in satellites for communications. While attitude finding was traditionally based on inertial navigation systems (INS), in the last decades several navigation equipment manufacturers have developed GPS-based solutions for the problem of orientation finding. GPS-based attitude determination systems have been tested for land, marine, air, and space vehicles [1 -4]. These systems have succeeded in providing comparatively low-cost and highly stable solutions.Multipath effects on GPS receivers for positioning applications, such as geodesy, are investigated and reported in [5]. A geometrical model is presented and applied to reduce the multipath interference in a static receiver utilizing multiple antennas [6].It is well known that the accuracy of a GPS-based attitude determination system is considerably limited by multipath interference [7 -10]. A GPS-based attitude determination system is basically a differential phase measurement apparatus. Multipath affects the receiver operation when a few delayed echoes of the desired signal are received and combined with the desired signal. The signal mixture induces phase error, which results in turn in large navigation errors.A method for calibrating multipath interference is presented in [8]. The method of [8] is based on an approximation of the multipath interference using a sum of spherical harmonic functions. A different mitigation technique, based on the assumption of low dynamics, is presented in [9]. In [9], the multipath interference effect on the attitude measurements is modeled by a sum of sinusoids.A different approach to the problem is presented in [10], where the multipath plus thermal noise is modeled as a first-order Gauss-Markov process. This statistical model is suitable for applying a Kalman filter [11]. Both methods [9,10] assume that the multipath model order is known a priori.Recently, a new method for calibrating multipath interference for a GPS-based attitude determination system was proposed [12]. This method, known as the Sky Map Method, shows improvement in and is especially suitable for a satellite in orbit. This is due to a relatively static environment surrounding the receiver antenna array. In this case, the platform often experience a periodic dynamics, which makes the problem setting similar to a static scenario.A new postprocessing iterative algorithm for multipath interference mitigation is presented in this paper. The proposed algorithm is based on separation of the measured attitude into time sections where the multipath interference acts uniformly.

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Low cost inertial/GPS integrated position and orientation system for marine applications

Cited by 4 publications

References 7 publications

Multi-IMU Based Alternate Navigation Frameworks: Performance & Comparison for UAS

Multi-IMU Based Alternate Navigation Frameworks: Performance & Comparison for UAS

Design and Development of Array POS for Airborne Remote Sensing Motion Compensation

Multipath Interference Order Selection and Mitigation in GPS-Based Attitude Determination Systems

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