Strapdown Navigation Technology: A Literature Survey

Garg, Subhash; Morrow, L. D.; Mamen, R.

doi:10.2514/3.55760

Cited by 29 publications

(3 citation statements)

References 75 publications

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“…It is well known that the solution of the equations of motion (direct integration) is not accurate over time because the error in the solution grows due to the following (Garg et al, 1978):…”

Section: Review Of Ins/gps Fusion Schemesmentioning

confidence: 99%

Inertial Navigation System/Global Positioning System Fusion Algorithm Design in a Fast Prototyping Environment: Towards a Real-Time Implementation

Giroux¹,

Gourdeau²,

Landry³

2005

Can. Aeronaut. Space J.

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Section: Review Of Ins/gps Fusion Schemesmentioning

confidence: 99%

Inertial Navigation System/Global Positioning System Fusion Algorithm Design in a Fast Prototyping Environment: Towards a Real-Time Implementation

Giroux¹,

Gourdeau²,

Landry³

2005

Can. Aeronaut. Space J.

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“…The development of strap-down systems was delayed up to the 1960s, when digital technology emerged and computers were developed (Jekeli, 2012). The critical point in developing the strap-down systems was reconstructing the attitude from the output of three orthogonal rate gyroscopes (Minor, 1965; McKern, 1968; Garg et al, 1978). From 1950 to 1960, two types of algorithms were used.…”

Section: Introductionmentioning

confidence: 99%

Attitude reconstruction from strap-down rate gyros using power series

Ghanbarpourasl

2021

J. Navigation

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This paper introduces a power series based method for attitude reconstruction from triad orthogonal strap-down gyros. The method is implemented and validated using quaternions and direction cosine matrix in single and double precision implementation forms. It is supposed that data from gyros are sampled with high frequency and a fitted polynomial is used for an analytical description of the angular velocity vector. The method is compared with the well-known Taylor series approach, and the stability of the coefficients’ norm in higher-order terms for both methods is analysed. It is shown that the norm of quaternions’ derivatives in the Taylor series is bigger than the equivalent terms coefficients in the power series. In the proposed method, more terms can be used in the power series before the saturation of the coefficients and the error of the proposed method is less than that for other methods. The numerical results show that the application of the proposed method with quaternions performs better than other methods. The method is robust with respect to the noise of the sensors and has a low computational load compared with other methods.

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“…To reduce cost and increase reliability; many researchers propose to replace traditional systems with solid‐state strapdown AHRS that by nature contains more electronic than mechanics (Garg et al , 1978). In the strapdown system, the outputs of a triad body‐mounted rate gyro are integrated using Euler equations or quaternions to provide aircraft attitude angles.…”

Section: Introductionmentioning

confidence: 99%

An adaptive unscented Kalman filter for quaternion‐based orientation estimation in low‐cost AHRS

Pourtakdoust

Asl

2007

Aircraft Engineering and Aerospace Technology

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PurposeThis paper aims to develop an adaptive unscented Kalman filter (AUKF) formulation for orientation estimation of aircraft and UAV utilizing low‐cost attitude and heading reference systems (AHRS).Design/methodology/approachA recursive least‐square algorithm with exponential age weighting in time is utilized for estimation of the unknown inputs. The proposed AUKF tunes its measurement covariance to yield optimal performance. Owing to nonlinear nature of the dynamic model as well as the measurement equations, an unscented Kalman filter (UKF) is chosen against the extended Kalman filter, due to its better performance characteristics. The unscented transformation of the UKF is shown to equivalently capture the effect of nonlinearities up to second order without the need for explicit calculations of the Jacobians.FindingsIn most conventional AHRS filters, severe problems can occur once the system suddenly experiences additional acceleration, resulting in erroneous orientation angles. On the contrary in the high dynamic accelerative mode of the new proposed filter the errors would not suddenly increase, since the additional to cruise accelerations are being continuously estimated resulting in substantially more accurate orientation estimation. This feature causes the associated filter errors to gradually increase, in the event of continuous vehicle acceleration, up to a point of zero additional acceleration that subsequently causes a subsidence of the error back to zero.Practical implicationsThe proposed filtering methodology can be implemented for orientation estimation of aircraft and UAV that are equipped with low‐cost AHRSs.Originality/valueTraditional AHRS algorithms utilize the accelerometers output for the computation of roll and pitch angles and magnetometer output for the heading angle. Moreover, these angles are also calculated from the gyroscopes output as well, but with errors that increase with time. Of course for some applications of AHRS system, orientation errors can be damped out with a proportional‐integral controller. In such a case, the filter cut‐off frequency is usually selected experimentally. But, for high accelerating vehicles utilizing AHRS, the system errors can become very large. A possible remedy to this problem could be to use more advanced nonlinear filter algorithms such as the one proposed.

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Strapdown Navigation Technology: A Literature Survey

Cited by 29 publications

References 75 publications

Inertial Navigation System/Global Positioning System Fusion Algorithm Design in a Fast Prototyping Environment: Towards a Real-Time Implementation

Inertial Navigation System/Global Positioning System Fusion Algorithm Design in a Fast Prototyping Environment: Towards a Real-Time Implementation

Attitude reconstruction from strap-down rate gyros using power series

An adaptive unscented Kalman filter for quaternion‐based orientation estimation in low‐cost AHRS

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