Strapdown system technology
|
|
- Barnaby Gibbs
- 5 years ago
- Views:
Transcription
1 Chapter 9 Strapdown system technology 9.1 Introduction The preceding chapters have described the fundamental principles of strapdown navigation systems and the sensors required to provide the necessary measurements of angular rate and specific force acceleration. In this chapter, aspects of strapdown system technology are discussed. 9.2 The components of a strapdown navigation system As indicated in the earlier discussion, a strapdown inertial navigation system is basically formed from a set of inertial instruments and a computer. However, for reasons which will shortly become clear, such a system may be sub-divided further into the following component parts: instrument cluster; instrument electronics; attitude computer; navigation computer. These components, which form the basic building blocks of a full strapdown navigation system, are shown schematically in Figure 9.1. These units will be mounted in a case, together with the necessary electrical power supplies and interface electronics, which may then be installed in a vehicle requiring an on-board navigation capability. Whilst it is often assumed that the unit will be fixed rigidly in the vehicle, it is usually necessary for it to be installed on anti-vibration (AV) mounts to provide isolation from vehicle motion at frequencies to which the unit is particularly sensitive. Whilst we are primarily concerned here with the implementation of a full inertial navigation system, applications arise in which the full navigation function is not required. For example, in some short range missile applications, inertial
2 Inertial instrument block Instrument support electronics Attitude computation Navigation computation ^^^^^^^^^^^^^?l I Inertial navigation system (INS) Figure 9.1 Strapdown inertial navigation system building blocks measurements, typically of angular rate and specific force, are required purely for flight control purposes. In such cases, the instrument cluster and instrument electronics blocks alone are used to form what is known as an inertial measurement unit or IMU. For other applications requiring attitude and heading information alone, the IMU is combined with a processor in which the attitude equations are solved. The resulting system is known as an attitude and heading reference system or AHRS, the processor being referred to here as the attitude computer. An AHRS is sometimes used in combination with a Doppler radar to form a navigation system. Finally, the addition of a further computer in which the navigation equations are solved provides a full inertial navigation capability. In the following sections, the components of the strapdown inertial navigation system defined above are described separately in more detail. This includes some discussion of the requirements for internal power supplies and AV mounts. 9.3 The instrument cluster Orthogonal sensor configurations The instrument cluster usually includes a number of gyroscopes and accelerometers which provide measurements of angular rate and specific force, respectively. The unit may contain either three single-axis gyroscopes or two dual-axis gyroscopes, as well as three single-axis accelerometers, all attached to a rigid block which can be mounted in the body of the host vehicle, either directly or on AV mounts. The sensitive axes of the instruments are most commonly mutually orthogonal in a Cartesian reference frame, as illustrated in Figure 9.2. This arrangement of the instruments allows the components of angular rate and specific force in three mutually orthogonal directions to be measured directly, thus providing the information required to implement the strapdown computing tasks.
3 Gyroscope 3 Accelerometer Accelerometer 3 Gyroscope Gyroscope Accelerometer 2 Figure 9.2 Orthogonal instrument cluster arrangement As indicated earlier, systems using dual-axis sensors such as the dynamically tuned gyroscope as an alternative to the single-axis rate-integrating gyroscope require one less sensor. A dual-axis sensor configuration also provides an additional rate measurement. Through careful choice of the relative orientation of the two dual-axis sensors, the redundant measurement provided by one gyroscope may be used to monitor the performance of the other as part of a built-in test facility. In practice of course, many other factors will influence the choice between these two gyroscopes and their different characteristics are discussed in Chapter 4. Other instrument arrangements are possible using modern sensing techniques which offer various novel approaches. For instance, a pair of multi-sensors mounted orthogonally or a single laser triad with suitable accelerometers may be used to form an instrument cluster. Such sensors are described in Chapters 5 and Skewed sensor configurations Theoretically, it is possible to mount the instruments in orientations other than the orthogonal arrangement illustrated in Figure 9.2. This type of configuration will function provided the measurements may be expressed as independent linear combinations of the orthogonal components of angular rate and specific force. The orthogonal components may then be extracted from the measurements as part of the strapdown processing task. Such instrument configurations are referred to as skewed sensor configurations and may be used to advantage in certain applications. A practical implementation is the silicon drive discussed in Section Skewed sensor arrangements are used primarily in applications requiring on-line failure detection and fail-safe operation as discussed in Section
4 However, they may also be used in situations where the turn rate about a singleaxis of a vehicle may exceed the normal operating range of a gyroscope having performance characteristics suitable for the particular application. By mounting the gyroscopes so that their sensitive axes form an angle with the high rate axis of the vehicle, it is possible to ensure that the resolved component of the turn rate falls within the maximum range of the sensor. Given knowledge of the skew angle, it is possible to calculate the turn rate about the vehicle axis using the measurements provided by the skewed sensors. An example of this technique based on a system using two dual-axis gyroscopes is discussed in the following section A skewed sensor configuration using dual-axis gyroscopes Two dual-axis gyroscopes may be configured in the symmetrical form illustrated in Figure 9.3. A body axis frame Ox^y^ib is indicated along with gyroscope axes Ox\y\z\ and Ox2y2Z2> The gyroscope spin axes lie in the Ox^y^ plane in the directions Ox \ and Ox2, inclined at angle < to OJq 5. The turn rates about the respective body axes are denoted GO*, Go 3 ; and co z. This particular configuration may be used where the rotation rate (GO*) about the axis x^ exceeds the normal operating range of the gyroscopes. For the arrangement shown in the figure, the turn rates COA, OOB, GOC and COD, sensed by the gyroscopes may be Gyroscope 1 Gyroscope 2 Input axes Spin axis Spin axis Input axes Figure 9.3 Dual-axis gyroscope skewed configuration
5 expressed in terms of the body rates as follows: Gyroscope 1: (9.1) Gyroscope 2: where O is the absolute value of the angular displacement between the spin axis of each gyroscope and the body axis jq,. Estimates of the body rates may be derived by summing and differencing the measurements of the turn rates provided by the gyroscopes as shown below, where the A notation is used to denote an estimated quantity. (9.2) This equation is in fact a least-squares solution to the measurement eqn. (9.1). The component of oo* sensed by each gyroscope is equal to oo x times the cosine of the direction angle, 0, between the body axis x\, and the gyroscope's input axes. For the instrument configuration considered here, (9.3) If the maximum body rate about the axis Jq 3 is 1200 /s and the maximum rate which can be measured by the gyroscopes is 600 /s, then in the absence of any motion about the other axes, the angle 0 must be greater than 60, that is, the angular displacement of the spin axis (<f>) as shown in the Figure 9.3 should not exceed 45. In general, the value of O will need to be less than this figure to cope with turn rates about the other axes of the body. In order to satisfy a particular set of performance objectives using a skewed sensor configuration of this type, it will be necessary to use higher quality gyroscopes or to compensate the sensors more precisely than would be required for a conventional strapdown arrangement. It can be shown that biases on the measurements of turn rate provided by the sensors and the accuracy of mounting alignment become more critical in inertial systems which use skewed sensor arrangements. From eqn. (9.2), it can be shown that biases in the four rate measurements, denoted $ooa, SOOB, SOOC and SGOD, and an error in the skew angle O will give rise to biases in
6 the estimates of the rates about the body axes, ScO x, Soo^ and 8oo z, given by (9.4) with the result that the effects of the measurement biases on the estimates of turn rate in the x or y direction can be magnified through the use of the skewed sensor configuration. The system is also particularly susceptible to misalignment of the sensor mounts. Hence, accurate knowledge of the skew angles is required in order to obtain precise estimates of the body rates. This is particularly true in the situation illustrated in the Figure 9.3, where the sensitive axes of the gyroscopes are displaced by large angles with respect to a potentially high rate axis. In general, skewed systems based on conventional angular momentum gyroscopes are expected to be applicable in situations where body rates exceed the sensor maximum angular rate capability only transiently. In many applications where high turn rates are likely to be sustained, it is considered that optical rate sensors, such as the ring laser gyroscope or the fibre gyroscope, now offer the best solution because of the high rotation rate capability and excellent scale-factor linearity offered by these types of sensors. The ring laser gyroscope in particular, offers superior scale factor performance Redundant sensor configurations For reasons of safety and reliability, many applications require navigation systems with on-line failure detection and fail-safe operation [1 3]. To satisfy this objective using a strapdown system, additional sensors are required to provide a level of redundancy in the measurements. This may be achieved using an orthogonal sensor arrangement by adding additional sensors to detect the turn rates and accelerations in each vehicle axis. Alternatively, and more commonly, a skewed sensor configuration is often proposed. For instance, a skewed sensor system employing four dual-axis gyroscopes and eight accelerometers may be used to provide quadruplex redundancy for an aircraft's flight control and avionics sensor unit. The gyroscopic input axes are equally distributed on a cone, the axis of which is aligned with the pitch axis of the aircraft for the purposes of this example. The accelerometers may be oriented in a similar manner. The four separate sources of rate information provided by such a system are indicated in Table 9.1 where GO;* and oo^ are the rates measured about the x and y input axes of the ith gyroscope, and K\ and K2 are geometrical constants. For the instrument configuration considered here, K\ = l/>/2 and K^ = 1/2. Similar equations may be written for the acceleration in aircraft body axes. This arrangement
7 Table 9.1 Sources of rate information provided by a skewed sensor system employing four dual-axis gyroscopes Sources of information Pitch rate Roll rate Yaw rate ^l (wijc + CDiy) K\ (<*>1JC - COi 3 ;) K\ (^3JC - <»3y) K\(CO2JC + 0>2y) (W2jc - C02 y ) - K\ (0)3* - my) (^2x ~ ^2y) ~ %l (^>lx ~ <*ly) K\ (^3JC + CO3 V ) K2(u>2x ~ ^2y) ~ ^2(<*>4jt ~ ^>4y) («>4x ~ <*%) + K\ (^\x ~ <*>\y) K\ (CO4 X + U>4y) (^>4JC ~ ^4y) + K\ (0)3^ - ^y) ^2(^2x ~ U>2y) + ^2(^4JC ~ ^>4y) of sensors, which is discussed in detail in Reference 1, offers high reliability with a 'fail-operational, fail-safe' level of fault tolerance. Fail-operational means that a fault must be detected, localised and the system must be dynamically reconfigured. Fail-safe refers to the capability to detect a fault which must not affect system safety. To achieve the same level of redundancy with an orthogonal sensor arrangement would require up to eight two-axis gyroscopes and twelve accelerometers. The reader interested in redundant strapdown sensor configurations is referred to the many excellent papers on the subject which include References 2 and 3 given at the end of this chapter. Redundant sensor configurations are discussed further in Section in the context of the Segway machine. 9.4 Instrument electronics The instrument electronics unit contains the dedicated electronics needed to operate the inertial sensors. Typically, this includes instrument power supplies, read-out electronics to provide signals in the form needed by a navigation processor and possibly a computer. The precise requirements vary in accordance with the types of instruments used and the level of performance which is needed. For the vast majority of applications, the electronic signals provided by the inertial sensors are required in a digital format for input directly to a computer. Whilst many sensors naturally provide output in digital form, this is not always the case. Where analogue output is provided, this will need to be converted to digital form. The analogue-to-digital conversion process forms part of the instrument electronics. The output signals from the inertial sensors are often provided in incremental form, that is, as measurements of incremental angle and incremental velocity corresponding to the integral of the measured angular rate and linear acceleration respectively over a short period of time, r. The incremental angle output (W) which may be provided by a gyroscope may be expressed mathematically as: / t+t co dt (9.5)
8 where GO is the measured turn rate. Similarly, the incremental velocity output (hv) from an accelerometer may be written as: / t+t fdt (9.6) where / is the measured acceleration. This form of sensor output is very convenient since it eases the tasks of updating attitude and velocity. Many contemporary sensors, ring laser gyroscopes for example, naturally provide output signals in this form, whilst for others it is a result of the digitising process carried out within the inertial measurement unit. The way in which the incremental measurements are used is discussed in Chapter 11 together with other aspects of the strapdown processing tasks. Many conventional sensors such as spinning mass gyroscopes and pendulous accelerometers typically operate in a null seeking or re-balance loop mode in order to achieve a linear and accurate response characteristic. In such cases, instrument re-balance electronics will form part of the instrument electronics block along with gyroscope spin motor and pick-off power supplies. The use of a computer within the inertial measurement unit (IMU) [4] enables some form of on-line compensation of the instrument outputs to be performed based on instrument characterisation data obtained during laboratory or production testing, as described in Chapter 8. Since such computing tasks are very specific to the type of instrument used, they may well be implemented here rather than as part of the subsequent attitude and navigation processing. Because instrument characteristics are often temperature dependent, there may also be a need to compensate the instrument outputs for temperature variation in order to achieve satisfactory performance. It follows therefore that instrument temperature monitoring is often required. This is often the subject of some dilemma as to where to monitor the temperatures. In many sensors, the variation in performance with temperature is the result of the temperature sensitivity of magnetic material used in the very core of the sensor. Hence, it may not be adequate to sense temperature outside the instrument cluster or merely close to the case of the instrument. Finally, it may well be advisable for most applications to carry out some form of on-line testing of the inertial sensors and associated electronics. This may involve checks to confirm that the outputs of the sensors remain within certain known limits appropriate to the application and that they continue to vary in the expected manner whilst operational. For instance, a sensor output remaining at a fixed level for an extended period of time may well suggest a failure has occurred and a warning should be given. Such tasks may also be implemented within the IMU processor which would form part of the built-in test equipment (BITE) within the unit. It follows from the above remarks that the instrument electronics block could typically comprise the following: instrument power supplies; re-balance loop electronics; temperature monitoring electronics;
9 Gyro 1 Gyro 2 Acc'r 1 Acc'r 2 Acc'r 3 Inertial sensor block RO. Monitor electronics I Rotor speed Temp. Re-balance loop electronics Re-balance loop electronics Clock control Gyro output digitisers Acc'r output digitisers Calibration R.O.M. Power supplies Data bus Output interface Address bus Microcomputer Prime power source Compensated body angular rates Compensated body linear acceleration Bite status Clock Figure 9.4 Inertial measurement unit functions instrument compensation processing; analogue-to-digital conversion electronics; output interface conditioning; built-in test facility. These components are illustrated schematically in Figure 9.4 which shows an inertial measurement unit containing two dual-axis gyroscopes and three accelerometers. 9.5 The attitude computer The attitude computer essentially takes the measurements of body rate about three orthogonal axes provided by the inertial measurement unit and uses this information to derive estimates of body attitude by a process of 'integration'. The attitude is usually represented within the computer as a set of direction cosines or quaternion parameters as discussed in Chapter 3, either of which are appropriate for on-line attitude computation. The Euler angle representation described in Chapter 3 is not generally recommended for implementation in strapdown systems. As a result of the preponderance of trigonometric terms in the equations coupled with the presence of singularities for pitch angles of ±90, the Euler equations do not lend themselves to real-time solution in an on-board navigation processor. However, it should be borne in mind that there may well be a requirement to extract the Euler angles from the direction cosines or quaternion parameters for control purposes in some applications. The equations to be solved in the attitude computer are summarised below assuming quaternion parameters are to be used to define the attitude of the vehicle body with respect to the navigation reference frame. The quaternion may be expressed as a four-element vector [a b c d] T, the elements of which are calculated by solving
10 the following set of differential equations: a = 0.5 (bco^ H- cody -f- d( z ) b = 0.5(000* ^CO 3 ; + coo z ) c = 0.5(^CO x + aa)^ bod z ) d = -0.5(COO x b(x) y aco z ) where (O x, oo^ and oo z are estimates of the components of vehicle turn rate with respect to the navigation reference frame. These quantities are computed by differencing the measurements of body rate output by the IMU and estimates of the turn rate of the navigation frame calculated in the navigation computer. The quaternion parameters may be used to construct the direction cosine matrix which relates the body reference frame to the navigation reference frame (Cg) using: (9.8) It is customary in most strapdown attitude computation schemes to carry out self-consistency checks. In the case of the quaternion, the self-consistency check involves confirming that the sum of the squares of the individual quaternion elements remains equal to unity, that is, a 2 + b 2 + c 2 + d 2 = 1 (9.9) The attitude computation algorithm used for a given application must be able to keep track of vehicle orientation whilst it is turning at its maximum rate and in the presence of all of the motion of the vehicle, including vibration. Algorithms which may be used to implement the attitude computation function in the presence of such motion are described in Chapter The navigation computer The solution of the navigation equations is carried out in the navigation computer. To implement the navigation function, it is first necessary to transform, or resolve, the specific force measurements provided by the accelerometers, denoted here by the vector f b, into the navigation reference frame. This can be accomplished using the attitude information provided by the attitude computer. Using the direction cosine representation of attitude for instance, the required transformation is achieved using: fn = cn f b (9.10)
11 where f n is the specific force expressed in navigation axes and C is the direction cosine matrix described earlier. Both the specific force and the direction cosine matrix are time-varying quantities. Therefore, care must be taken to ensure that all significant movements of the vehicle, including turn rates and vibratory motion, can be accommodated in the computer implementation of this equation. The resolved specific force components form the inputs to the navigation equations which are used to calculate vehicle velocity and position. The navigation equations are described in Chapter 3 but are repeated here for completeness. For a system which is required to navigate in the vicinity of the Earth to provide estimates of north and east velocity, latitude, longitude and height above the Earth, the equations to be solved may be written as follows: (9.11) (9.12) (9.13) (9.14) (9.15) (9.16) where V^,VE,VD, are the north, east and vertical components of vehicle velocity with respect to the Earth, /N, /E, /D, are the components of specific force resolved in the local geographic reference frame, L is the vehicle latitude, t is the vehicle longitude, h is the vehicle height above ground, RQ is the mean radius of the Earth, 2 is the turn rate of the Earth and g is the acceleration due to gravity. Refinements to these equations needed to take account of the shape of the Earth and variation in gravitational attraction over the surface of the Earth are given at the end of Chapter 3. The turn rate of the vehicle with respect to the local geographic navigation frame <o b = [oo x a) y oo z ] T which is required to implement the attitude computation process described above is given by: (9.17) where co^ is the turn rate of the body with respect to inertial frame as measured by the strapdown gyroscopes in the inertial measurement unit and O)^n is the turn rate of
12 the navigation frame with respect to the inertial frame, which is computed as follows: (9.18) Algorithms which may be used to implement the navigation function are described in Chapter Power conditioning The raw power supplies available in the host vehicle, whether it is an aircraft, a ship or a land vehicle, will not usually be sufficiently stable or provide the particular voltage levels required by the inertial navigation system. Therefore, it will be necessary to include power conditioning within the unit to generate the supply voltages required which are smoothed sufficiently and controlled to the desired amplitude to ensure satisfactory operation of the navigation system. 9.8 Anti-vibration mounts A strapdown inertial navigation system will usually be installed on anti-vibration (AV) mounts to provide isolation from vehicle motion at frequencies to which the unit is particularly sensitive. In many applications, the unit may need to be isolated from certain frequencies in the vibration spectrum of the vehicle which may excite resonances within the inertial sensors or give rise to computational errors. The design of suitable AV mounts is frequently a complex task requiring careful matching of the mount design to the characteristics of the inertial sensors within the unit as well as the range and frequency of the perturbing characteristics of the host platform. The effects of vibration are discussed in more detail in Chapter 12 in relation to both instrument errors and overall system performance. 9.9 Concluding remarks A strapdown inertial navigation system providing navigation in three dimensions will have the following components in one form or another: Instrument cluster to sense translational and rotational movements; Instrument electronics to provide the control of the sensors and to produce measurement information; Attitude computer to compute the attitude of the vehicle for resolution of the specific force measurements;
13 Navigation computer to resolve the specific force data and to solve the navigation equations to generate estimates of position and velocity; Gravitational model to allow compensation for the effects of gravitational attraction on the translational measurements; Power conditioning to provide smoothed and controlled voltage levels needed for satisfactory system operation; Input/output interface to communicate with the host vehicle. These units are mounted in a case which is installed in a vehicle. The case is usually attached to the body of the vehicle via AV mounts. Reduced configurations are possible to produce an attitude and heading reference unit, or a unit for navigation in a single plane. A photograph of a strapdown navigation system incorporating dynamically tuned gyroscopes is shown in Figure 9.5. A modern equivalent to this system based on MEMS sensor technology is shown in Figure 9.6. In a strapdown system, the inertial sensors provide measurements of angular rates and specific force in axes that are usually aligned with the principal body axes of the vehicle. Skewed sensor arrangements may be used in some designs to allow the instruments to cope with very high rates about a single-axis or in systems employing multiple sensors to provide redundancy for fault tolerance purposes. The inertial measurements have to be transformed to the appropriate axis Figure 9.5 Photograph of a strapdown system incorporating dynamically tuned gyroscopes
14 Figure 9.6 Photograph of a strapdown system incorporating MEMS sensors set for navigation. A variety of reference frames are used depending on the particular application; typically, a local geographic frame is used to provide estimates of latitude, longitude and height, for navigation in the vicinity of the Earth. A variety of methods are available for the transformation procedure, direction cosine matrices or quaternion parameters being most commonly used since both are free from singularities at ±90 pitch angles. Quaternions are generally preferred because they ensure self-consistency. The algorithms required for specific force transformation, the correction for the gravitational attraction and the solution of the navigation equations are implemented in the navigation computer. This processor produces the estimates of vehicle velocity and position in whichever axis set the vehicle is using for its navigation. References 1 KROGMANN, U.: 'Optimal integration of inertial sensor functions for flight control and avionics'. AIAA-DASC, San Jose, October KROGMANN, U.: 'Design considerations for highly reliable hard- and software fault tolerant inertial reference systems'. DGON proceedings, Gyro Technology Symposium, Stuttgart, HARRISON, J.V., and GAI, E.G.: 'Evaluating sensor orientations for navigation performance and failure detection', IEEE Transactions, 1977, AES-13 (6) 4 EDWARDS, CS., and CHAPLIN, RJ.: 'Strapdown dynamically tuned gyroscopes and the use of microprocessors to simplify their application', DGON proceedings, Gyro Technology Symposium, Stuttgart, 1979
Strapdown Inertial Navigation Technology
Strapdown Inertial Navigation Technology 2nd Edition David Titterton and John Weston The Institution of Engineering and Technology Preface xv 1 Introduction 1 1.1 Navigation 1 1.2 Inertial navigation 2
More informationStrapdown inertial navigation technology
Strapdown inertial navigation technology D. H. Titterton and J. L. Weston Peter Peregrinus Ltd. on behalf of the Institution of Electrical Engineers Contents Preface Page xiii 1 Introduction 1 1.1 Navigation
More informationStrapdown Inertial Navigation Technology, Second Edition D. H. Titterton J. L. Weston
Strapdown Inertial Navigation Technology, Second Edition D. H. Titterton J. L. Weston NavtechGPS Part #1147 Progress in Astronautics and Aeronautics Series, 207 Published by AIAA, 2004, Revised, 2nd Edition,
More informationNavigational Aids 1 st Semester/2007/TF 7:30 PM -9:00 PM
Glossary of Navigation Terms accelerometer. A device that senses inertial reaction to measure linear or angular acceleration. In its simplest form, it consists of a case-mounted spring and mass arrangement
More informationThis was written by a designer of inertial guidance machines, & is correct. **********************************************************************
EXPLANATORY NOTES ON THE SIMPLE INERTIAL NAVIGATION MACHINE How does the missile know where it is at all times? It knows this because it knows where it isn't. By subtracting where it is from where it isn't
More informationStrapdown Inertial Navigation Technology. Second Edition. Volume 207 PROGRESS IN ASTRONAUTICS AND AERONAUTICS
Strapdown Inertial Navigation Technology Second Edition D. H. Titterton Technical leader in Laser Systems at the Defence Science and Technology Laboratory (DSTL) Hampshire, UK J. L. Weston Principal Scientist
More informationInertial Navigation Systems
Inertial Navigation Systems Kiril Alexiev University of Pavia March 2017 1 /89 Navigation Estimate the position and orientation. Inertial navigation one of possible instruments. Newton law is used: F =
More informationTesting the Possibilities of Using IMUs with Different Types of Movements
137 Testing the Possibilities of Using IMUs with Different Types of Movements Kajánek, P. and Kopáčik A. Slovak University of Technology, Faculty of Civil Engineering, Radlinského 11, 81368 Bratislava,
More informationCHAPTER 2 SENSOR DATA SIMULATION: A KINEMATIC APPROACH
27 CHAPTER 2 SENSOR DATA SIMULATION: A KINEMATIC APPROACH 2.1 INTRODUCTION The standard technique of generating sensor data for navigation is the dynamic approach. As revealed in the literature (John Blakelock
More informationSTRAPDOWN ANALYTICS - SECOND EDITION. Notice - Strapdown Associates. Inc. Copyrighted Material
STRAPDOWN ANALYTICS - SECOND EDITION Notice - Strapdown Associates. Inc. Copyrighted Material 1 Introduction Inertial navigation is an autonomous process of computing position location by doubly integrating
More informationIntroduction to Inertial Navigation (INS tutorial short)
Introduction to Inertial Navigation (INS tutorial short) Note 1: This is a short (20 pages) tutorial. An extended (57 pages) tutorial that also includes Kalman filtering is available at http://www.navlab.net/publications/introduction_to
More informationSatellite Attitude Determination
Satellite Attitude Determination AERO4701 Space Engineering 3 Week 5 Last Week Looked at GPS signals and pseudorange error terms Looked at GPS positioning from pseudorange data Looked at GPS error sources,
More informationCHARACTERIZATION AND CALIBRATION OF MEMS INERTIAL MEASUREMENT UNITS
CHARACTERIZATION AND CALIBRATION OF MEMS INERTIAL MEASUREMENT UNITS ökçen Aslan 1,2, Afşar Saranlı 2 1 Defence Research and Development Institute (SAE), TÜBİTAK 2 Dept. of Electrical and Electronics Eng.,
More informationnavigation Isaac Skog
Foot-mounted zerovelocity aided inertial navigation Isaac Skog skog@kth.se Course Outline 1. Foot-mounted inertial navigation a. Basic idea b. Pros and cons 2. Inertial navigation a. The inertial sensors
More informationADVANTAGES OF INS CONTROL SYSTEMS
ADVANTAGES OF INS CONTROL SYSTEMS Pavol BOŽEK A, Aleksander I. KORŠUNOV B A Institute of Applied Informatics, Automation and Mathematics, Faculty of Material Science and Technology, Slovak University of
More informationCalibration of Inertial Measurement Units Using Pendulum Motion
Technical Paper Int l J. of Aeronautical & Space Sci. 11(3), 234 239 (2010) DOI:10.5139/IJASS.2010.11.3.234 Calibration of Inertial Measurement Units Using Pendulum Motion Keeyoung Choi* and Se-ah Jang**
More informationCOARSE LEVELING OF INS ATTITUDE UNDER DYNAMIC TRAJECTORY CONDITIONS. Paul G. Savage Strapdown Associates, Inc.
COARSE LEVELIG OF IS ATTITUDE UDER DYAMIC TRAJECTORY CODITIOS Paul G. Savage Strapdown Associates, Inc. SAI-W-147 www.strapdownassociates.com January 28, 215 ASTRACT Approximate attitude initialization
More informationCAMERA GIMBAL PERFORMANCE IMPROVEMENT WITH SPINNING-MASS MECHANICAL GYROSCOPES
8th International DAAAM Baltic Conference "INDUSTRIAL ENGINEERING 19-21 April 2012, Tallinn, Estonia CAMERA GIMBAL PERFORMANCE IMPROVEMENT WITH SPINNING-MASS MECHANICAL GYROSCOPES Tiimus, K. & Tamre, M.
More informationMe 3-Axis Accelerometer and Gyro Sensor
Me 3-Axis Accelerometer and Gyro Sensor SKU: 11012 Weight: 20.00 Gram Description: Me 3-Axis Accelerometer and Gyro Sensor is a motion processing module. It can use to measure the angular rate and the
More informationINTEGRATED TECH FOR INDUSTRIAL POSITIONING
INTEGRATED TECH FOR INDUSTRIAL POSITIONING Integrated Tech for Industrial Positioning aerospace.honeywell.com 1 Introduction We are the world leader in precision IMU technology and have built the majority
More informationAn Intro to Gyros. FTC Team #6832. Science and Engineering Magnet - Dallas ISD
An Intro to Gyros FTC Team #6832 Science and Engineering Magnet - Dallas ISD Gyro Types - Mechanical Hubble Gyro Unit Gyro Types - Sensors Low cost MEMS Gyros High End Gyros Ring laser, fiber optic, hemispherical
More informationSelection and Integration of Sensors Alex Spitzer 11/23/14
Selection and Integration of Sensors Alex Spitzer aes368@cornell.edu 11/23/14 Sensors Perception of the outside world Cameras, DVL, Sonar, Pressure Accelerometers, Gyroscopes, Magnetometers Position vs
More informationAutonomous Navigation for Flying Robots
Computer Vision Group Prof. Daniel Cremers Autonomous Navigation for Flying Robots Lecture 3.2: Sensors Jürgen Sturm Technische Universität München Sensors IMUs (inertial measurement units) Accelerometers
More informationDynamic Modelling for MEMS-IMU/Magnetometer Integrated Attitude and Heading Reference System
International Global Navigation Satellite Systems Society IGNSS Symposium 211 University of New South Wales, Sydney, NSW, Australia 15 17 November, 211 Dynamic Modelling for MEMS-IMU/Magnetometer Integrated
More informationE80. Experimental Engineering. Lecture 9 Inertial Measurement
Lecture 9 Inertial Measurement http://www.volker-doormann.org/physics.htm Feb. 19, 2013 Christopher M. Clark Where is the rocket? Outline Sensors People Accelerometers Gyroscopes Representations State
More information9 Degrees of Freedom Inertial Measurement Unit with AHRS [RKI-1430]
9 Degrees of Freedom Inertial Measurement Unit with AHRS [RKI-1430] Users Manual Robokits India info@robokits.co.in http://www.robokitsworld.com Page 1 This 9 Degrees of Freedom (DOF) Inertial Measurement
More informationExterior Orientation Parameters
Exterior Orientation Parameters PERS 12/2001 pp 1321-1332 Karsten Jacobsen, Institute for Photogrammetry and GeoInformation, University of Hannover, Germany The georeference of any photogrammetric product
More informationCamera Drones Lecture 2 Control and Sensors
Camera Drones Lecture 2 Control and Sensors Ass.Prof. Friedrich Fraundorfer WS 2017 1 Outline Quadrotor control principles Sensors 2 Quadrotor control - Hovering Hovering means quadrotor needs to hold
More informationEstimation of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter
Estimation of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter Przemys law G asior, Stanis law Gardecki, Jaros law Gośliński and Wojciech Giernacki Poznan University of
More information4INERTIAL NAVIGATION CHAPTER 20. INTRODUCTION TO INERTIAL NAVIGATION...333
4INERTIAL NAVIGATION CHAPTER 20. INTRODUCTION TO INERTIAL NAVIGATION...333 4 CHAPTER 20 INTRODUCTION TO INERTIAL NAVIGATION INTRODUCTION 2000. Background Inertial navigation is the process of measuring
More informationInertial Navigation Static Calibration
INTL JOURNAL OF ELECTRONICS AND TELECOMMUNICATIONS, 2018, VOL. 64, NO. 2, PP. 243 248 Manuscript received December 2, 2017; revised April, 2018. DOI: 10.24425/119518 Inertial Navigation Static Calibration
More informationSatellite and Inertial Navigation and Positioning System
Satellite and Inertial Navigation and Positioning System Project Proposal By: Luke Pfister Dan Monroe Project Advisors: Dr. In Soo Ahn Dr. Yufeng Lu EE 451 Senior Capstone Project December 10, 2009 PROJECT
More informationAVIONICS FUNDAMENTALS MAINTENANCE TRAINING /27/2006 Chapter 5 - Inertial Reference
Gyros Inside Indicators Figures 5-4 and 5-5 illustrate how gyros can be used inside indicators mounted directly on the flight instrument panel. Figure 5-4 shows a gyro mounted with its spin axis vertical.
More information(1) and s k ωk. p k vk q
Sensing and Perception: Localization and positioning Isaac Sog Project Assignment: GNSS aided INS In this project assignment you will wor with a type of navigation system referred to as a global navigation
More informationQuaternion Kalman Filter Design Based on MEMS Sensors
, pp.93-97 http://dx.doi.org/10.14257/astl.2014.76.20 Quaternion Kalman Filter Design Based on MEMS Sensors Su zhongbin,yanglei, Kong Qingming School of Electrical and Information. Northeast Agricultural
More informationHG4930 INERTIAL MEASUREMENT UNIT (IMU) Installation and Interface Manual
HG4930 INERTIAL MEASUREMENT UNIT (IMU) Installation and Interface Manual HG4930 Installation and Interface Manual aerospace.honeywell.com/hg4930 2 Table of Contents 4 5 6 10 11 13 13 Honeywell Industrial
More informationDYNAMIC POSITIONING CONFERENCE September 16-17, Sensors
DYNAMIC POSITIONING CONFERENCE September 16-17, 2003 Sensors An Integrated acoustic positioning and inertial navigation system Jan Erik Faugstadmo, Hans Petter Jacobsen Kongsberg Simrad, Norway Revisions
More informationElectronics Design Contest 2016 Wearable Controller VLSI Category Participant guidance
Electronics Design Contest 2016 Wearable Controller VLSI Category Participant guidance June 27, 2016 Wearable Controller is a wearable device that can gather data from person that wears it. Those data
More informationLine of Sight Stabilization Primer Table of Contents
Line of Sight Stabilization Primer Table of Contents Preface 1 Chapter 1.0 Introduction 3 Chapter 2.0 LOS Control Architecture and Design 11 2.1 Direct LOS Stabilization 15 2.2 Indirect LOS Stabilization
More informationInflight Alignment Simulation using Matlab Simulink
Inflight Alignment Simulation using Matlab Simulink Authors, K. Chandana, Soumi Chakraborty, Saumya Shanker, R.S. Chandra Sekhar, G. Satheesh Reddy. RCI /DRDO.. 2012 The MathWorks, Inc. 1 Agenda with Challenging
More informationIntroduction to Inertial Navigation and Kalman filtering
Introduction to Inertial Navigation and Kalman filtering INS Tutorial, Norwegian Space Centre 2008.06.09 Kenneth Gade, FFI Outline Notation Inertial navigation Aided inertial navigation system (AINS) Implementing
More information3DM-GX1 Data Communications Protocol
DCP Manual Version 3.1.02 3DM-GX1 Data Communications Protocol Little Sensors, Big Ideas www.microstrain.com 2010 by MicroStrain, Inc. 459 Hurricane Lane Suite 102 Williston, VT 05495 USA Phone: 802-862-6629
More informationDriftLess Technology to improve inertial sensors
Slide 1 of 19 DriftLess Technology to improve inertial sensors Marcel Ruizenaar, TNO marcel.ruizenaar@tno.nl Slide 2 of 19 Topics Problem, Drift in INS due to bias DriftLess technology What is it How it
More informationAttitude Control for Small Satellites using Control Moment Gyros
Attitude Control for Small Satellites using Control Moment Gyros V Lappas a, Dr WH Steyn b, Dr CI Underwood c a Graduate Student, University of Surrey, Guildford, Surrey GU 5XH, UK b Professor, University
More informationAMG Series. Motorized Position and Rate Gimbals. Continuous 360 rotation of azimuth and elevation including built-in slip ring
AMG Series Optical Mounts AMG Series Motorized Position and Rate Gimbals Continuous rotation of azimuth and elevation including built-in slip ring High accuracy angular position and rate capability Direct-drive
More informationCollaboration is encouraged among small groups (e.g., 2-3 students).
Assignments Policies You must typeset, choices: Word (very easy to type math expressions) Latex (very easy to type math expressions) Google doc Plain text + math formula Your favorite text/doc editor Submit
More informationUse of n-vector for Radar Applications
Use of n-vector for Radar Applications Nina Ødegaard, Kenneth Gade Norwegian Defence Research Establishment Kjeller, NORWAY email: Nina.Odegaard@ffi.no Kenneth.Gade@ffi.no Abstract: This paper aims to
More informationCyberAtom X-202 USER MANUAL. Copyrights Softexor 2015 All Rights Reserved.
CyberAtom X-202 USER MANUAL Copyrights Softexor 2015 All Rights Reserved. X-202 Contents ii Contents About...5 Block Diagram... 5 Axes Conventions...5 System Startup... 6 Hardware Reset...6 LED indicator...
More informationME 597: AUTONOMOUS MOBILE ROBOTICS SECTION 2 COORDINATE TRANSFORMS. Prof. Steven Waslander
ME 597: AUTONOMOUS MOILE ROOTICS SECTION 2 COORDINATE TRANSFORMS Prof. Steven Waslander OUTLINE Coordinate Frames and Transforms Rotation Matrices Euler Angles Quaternions Homogeneous Transforms 2 COORDINATE
More informationTEST RESULTS OF A GPS/INERTIAL NAVIGATION SYSTEM USING A LOW COST MEMS IMU
TEST RESULTS OF A GPS/INERTIAL NAVIGATION SYSTEM USING A LOW COST MEMS IMU Alison K. Brown, Ph.D.* NAVSYS Corporation, 1496 Woodcarver Road, Colorado Springs, CO 891 USA, e-mail: abrown@navsys.com Abstract
More informationEE 570: Location and Navigation: Theory & Practice
EE 570: Location and Navigation: Theory & Practice Navigation Mathematics Tuesday 15 Jan 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 1 of 14 Coordinate Frames - ECI The Earth-Centered
More informationLecture 13 Visual Inertial Fusion
Lecture 13 Visual Inertial Fusion Davide Scaramuzza Course Evaluation Please fill the evaluation form you received by email! Provide feedback on Exercises: good and bad Course: good and bad How to improve
More informationThe Applanix Approach to GPS/INS Integration
Lithopoulos 53 The Applanix Approach to GPS/INS Integration ERIK LITHOPOULOS, Markham ABSTRACT The Position and Orientation System for Direct Georeferencing (POS/DG) is an off-the-shelf integrated GPS/inertial
More informationALAR Series. Direct Drive, Large-Aperture, Rotary Stage. 5 different aperture sizes: 100 mm, 150 mm, 200 mm, 250 mm, 325 mm
LR Series Rotary Stages LR Series Direct Drive, Large-perture, Rotary Stage 5 different aperture sizes: 100 mm, 150 mm, 200 mm, 250 mm, 325 mm Continuous or limited travel High axial load capacity of 300-1000
More informationECV ecompass Series. Technical Brief. Rev A. Page 1 of 8. Making Sense out of Motion
Technical Brief The ECV ecompass Series provides stable azimuth, pitch, and roll measurements in dynamic conditions. An enhanced version of our ECG Series, the ECV includes a full suite of precision, 3-axis,
More informationMicro Inertial Navigation System. - Present Status and Development at Imego AB.
Micro Inertial Navigation System - Present Status and Development at Imego AB www.imego.com Page 1 (2) Executive Summary Imego has developed a very small prototype system for inertial navigation based
More informationDevelopment of a MEMs-Based IMU Unit
Development of a MEMs-Based IMU Unit Başaran Bahadır Koçer, Vasfi Emre Ömürlü, Erhan Akdoğan, Celâl Sami Tüfekçi Department of Mechatronics Engineering Yildiz Technical University Turkey, Istanbul Abstract
More informationLCLS Undulator Quadrupole Fiducialization Plan
LCLS-TN-07-7 LCLS Undulator Quadrupole Fiducialization Plan Zachary Wolf, Michael Levashov, Eric Lundahl, Ed Reese, Catherine LeCocq, Robert Ruland Stanford Linear Accelerator Center August 14, 2007 Abstract
More informationEvaluating the Performance of a Vehicle Pose Measurement System
Evaluating the Performance of a Vehicle Pose Measurement System Harry Scott Sandor Szabo National Institute of Standards and Technology Abstract A method is presented for evaluating the performance of
More informationReal Time Implementation of a Low-Cost INS/GPS System Using xpc Target
Real Time Implementation of a Low-Cost INS/GPS System Using xpc Target José Adalberto França and Jorge Audrin Morgado Abstract A Low Cost INS/GPS system (Inertial Navigation System / Global Positioning
More informationChapter 4: Kinematics of Rigid Bodies
Chapter 4: Kinematics of Rigid Bodies Advanced Dynamics Lecturer: Hossein Nejat Fall 2016 A rigid body is defined to be a collection of particles whose distance of separation is invariant. In this circumstance,
More information3D Transformations. CS 4620 Lecture 10. Cornell CS4620 Fall 2014 Lecture Steve Marschner (with previous instructors James/Bala)
3D Transformations CS 4620 Lecture 10 1 Translation 2 Scaling 3 Rotation about z axis 4 Rotation about x axis 5 Rotation about y axis 6 Properties of Matrices Translations: linear part is the identity
More informationMEAM 620: HW 1. Sachin Chitta Assigned: January 10, 2007 Due: January 22, January 10, 2007
MEAM 620: HW 1 Sachin Chitta (sachinc@grasp.upenn.edu) Assigned: January 10, 2007 Due: January 22, 2006 January 10, 2007 1: MATLAB Programming assignment Using MATLAB, write the following functions: 1.
More informationInertial measurement and realistic post-flight visualization
Inertial measurement and realistic post-flight visualization David Fifield Metropolitan State College of Denver Keith Norwood, faculty advisor June 28, 2007 Abstract Determining the position and orientation
More information1. INTRODUCTION. Constrained Control Allocation for Systems with Redundant Control Effectors
1. INTRODUCTION Control allocation algorithms determine how the controls of a system should be positioned so that they produce some desired effect. Constrained controls have limits on their maximum positions
More informationAnalysis of Euler Angles in a Simple Two-Axis Gimbals Set
Vol:5, No:9, 2 Analysis of Euler Angles in a Simple Two-Axis Gimbals Set Ma Myint Myint Aye International Science Index, Mechanical and Mechatronics Engineering Vol:5, No:9, 2 waset.org/publication/358
More informationTechnical Document Compensating. for Tilt, Hard Iron and Soft Iron Effects
Technical Document Compensating for Tilt, Hard Iron and Soft Iron Effects Published: August 6, 2008 Updated: December 4, 2008 Author: Christopher Konvalin Revision: 1.2 www.memsense.com 888.668.8743 Rev:
More informationCamera gimbal control system for unmanned platforms
8 th International Symposium Topical Problems in the Field of Electrical and Power Engineering Pärnu, Estonia, January 11-16, 2010 Camera gimbal control system for unmanned platforms Kristjan Tiimus, Mart
More information3D Transformations. CS 4620 Lecture Kavita Bala w/ prior instructor Steve Marschner. Cornell CS4620 Fall 2015 Lecture 11
3D Transformations CS 4620 Lecture 11 1 Announcements A2 due tomorrow Demos on Monday Please sign up for a slot Post on piazza 2 Translation 3 Scaling 4 Rotation about z axis 5 Rotation about x axis 6
More information3D Motion Tracking by Inertial and Magnetic sensors with or without GPS
3D Motion Tracking by Inertial and Magnetic sensors with or without GPS Junping Cai M.Sc. E. E, PhD junping@mci.sdu.dk Centre for Product Development (CPD) Mads Clausen Institute (MCI) University of Southern
More informationSynopsis and Discussion of "Derivation of Lineof-Sight Stabilization Equations for Gimbaled-Mirror Optical Systems
Synopsis and Discussion of "Derivation of Lineof-Sight Stabilization Equations for Gimbaled-Mirror Optical Systems Keith B. Powell OPTI-51 Project 1 Steward Observatory, University of Arizona Abstract
More informationHandout. and. brief description. Marine Gravity Meter KSS 32- M
and brief description of Marine Gravity Meter KSS 32- M Copyright 1999-2010 Bodensee Gravitymeter Geosystem GmbH All rights reserved 1 KSS32-M Marine Gravity Meter Cover removed Copyright 1999-2010 Bodensee
More informationSphero Lightning Lab Cheat Sheet
Actions Tool Description Variables Ranges Roll Combines heading, speed and time variables to make the robot roll. Duration Speed Heading (0 to 999999 seconds) (degrees 0-359) Set Speed Sets the speed of
More informationCS354 Computer Graphics Rotations and Quaternions
Slide Credit: Don Fussell CS354 Computer Graphics Rotations and Quaternions Qixing Huang April 4th 2018 Orientation Position and Orientation The position of an object can be represented as a translation
More informationUnscented Kalman Filtering for Attitude Determination Using MEMS Sensors
Journal of Applied Science and Engineering, Vol. 16, No. 2, pp. 165 176 (2013) DOI: 10.6180/jase.2013.16.2.08 Unscented Kalman Filtering for Attitude Determination Using MEMS Sensors Jaw-Kuen Shiau* and
More informationGPS-Aided Inertial Navigation Systems (INS) for Remote Sensing
GPS-Aided Inertial Navigation Systems (INS) for Remote Sensing www.inertiallabs.com 1 EVOLUTION OF REMOTE SENSING The latest progress in Remote sensing emerged more than 150 years ago, as balloonists took
More informationError Simulation and Multi-Sensor Data Fusion
Error Simulation and Multi-Sensor Data Fusion AERO4701 Space Engineering 3 Week 6 Last Week Looked at the problem of attitude determination for satellites Examined several common methods such as inertial
More informationInertial Measurement Units I!
! Inertial Measurement Units I! Gordon Wetzstein! Stanford University! EE 267 Virtual Reality! Lecture 9! stanford.edu/class/ee267/!! Lecture Overview! coordinate systems (world, body/sensor, inertial,
More informationDatasheet 2102 SERIES TWO-AXIS POSITIONING AND RATE TABLE SYSTEM
Datasheet 2102 SERIES TWO-AXIS POSITIONING AND RATE TABLE SYSTEM FEATURES Position Accuracy: ± 30 arc seconds (both axes) Rate Accuracy: ± 0.01% Max Rate (varies depending on axis configuration): Inner
More informationBeam-pointing angle calibration of the Wyoming Cloud Radar on the Wyoming King Air aircraft
Beam-pointing angle calibration of the Wyoming Cloud Radar on the Wyoming King Air aircraft Samuel Haimov, Alfred Rodi University of Wyoming, Atmospheric Science Department, Laramie, WY 82071, U.S.A.,
More informationPerformance Evaluation of INS Based MEMES Inertial Measurement Unit
Int'l Journal of Computing, Communications & Instrumentation Engg. (IJCCIE) Vol. 2, Issue 1 (215) ISSN 2349-1469 EISSN 2349-1477 Performance Evaluation of Based MEMES Inertial Measurement Unit Othman Maklouf
More informationMEM380 Applied Autonomous Robots Winter Robot Kinematics
MEM38 Applied Autonomous obots Winter obot Kinematics Coordinate Transformations Motivation Ultimatel, we are interested in the motion of the robot with respect to a global or inertial navigation frame
More informationAutomatic Control Industrial robotics
Automatic Control Industrial robotics Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Prof. Luca Bascetta Industrial robots
More informationROTATING IMU FOR PEDESTRIAN NAVIGATION
ROTATING IMU FOR PEDESTRIAN NAVIGATION ABSTRACT Khairi Abdulrahim Faculty of Science and Technology Universiti Sains Islam Malaysia (USIM) Malaysia A pedestrian navigation system using a low-cost inertial
More informationSTRAPDOWN INERTIAL NAVIGATION FOR GROUND PENETRATING RADAR DATA ACQUISITION: THEORY AND EXPERIMENTS
STRAPDOWN INERTIAL NAVIGATION FOR GROUND PENETRATING RADAR DATA ACQUISITION: THEORY AND EXPERIMENTS by Friedrich Roth A thesis submitted to the Faculty and the Board of Trustees of the Colorado School
More informationStudy on Vertical Alignment Maintenance Technique using GNSS in Skyscraper
Study on Vertical Alignment Maintenance echnique using GNSS in Skyscraper Eunchurn Park 1, Yu-Seung Kim 1, Joong-Yub Lee 1, Jun-Sung Choi 1* and Yeon-Back Jung 2, Won-Kyun Seok 2, Kwang-Soo Jung 2, Soon-Jeon
More informationGPS + Inertial Sensor Fusion
GPS + Inertial Sensor Fusion Senior Project Proposal Aleksey Lykov, William Tarpley, Anton Volkov Advisors: Dr. In Soo Ahn, Dr. Yufeng Lu Date: November 26, 2013 Project Summary The objective of this project
More informationALAR Series. Direct Drive, Large-Aperture, Rotary Stage. 5 different aperture sizes: 100 mm, 150 mm, 200 mm, 250 mm, 325 mm
LR Series Rotary Stages LR Series Direct Drive, Large-perture, Rotary Stage 5 different aperture sizes: mm, 150 mm, 00 mm, 50 mm, 35 mm Continuous or limited travel High axial load capacity of 300-0 lb
More informationAlternative applications of IN sensors and systems
Chapter 15 Alternative applications of IN sensors and systems 15.1 Introduction Much of this text book has concentrated on the design and operation of inertial sensors and systems for inertial navigation.
More informationPreliminary Results with a Low-Cost Fiber-Optic Gyrocompass System
Preliminary Results with a Low-Cost Fiber-Optic Gyrocompass System Andrew R. Spielvogel and Louis L. Whitcomb Abstract This paper reports results of preliminary numerical simulation studies and preliminary
More informationQuaternion to Euler Angle Conversion for Arbitrary Rotation Sequence Using Geometric Methods
uaternion to Euler Angle Conversion for Arbitrary Rotation Sequence Using Geometric Methods ê = normalized Euler ation axis i Noel H. Hughes Nomenclature = indices of first, second and third Euler
More informationInertial Measurement for planetary exploration: Accelerometers and Gyros
Inertial Measurement for planetary exploration: Accelerometers and Gyros Bryan Wagenknecht 1 Significance of Inertial Measurement Important to know where am I? if you re an exploration robot Probably don
More informationRelating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps
Relating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps John W. Allen Samuel Gin College of Engineering GPS and Vehicle Dynamics Lab Auburn University Auburn,
More informationMETR 4202: Advanced Control & Robotics
Position & Orientation & State t home with Homogenous Transformations METR 4202: dvanced Control & Robotics Drs Surya Singh, Paul Pounds, and Hanna Kurniawati Lecture # 2 July 30, 2012 metr4202@itee.uq.edu.au
More informationJacobians. 6.1 Linearized Kinematics. Y: = k2( e6)
Jacobians 6.1 Linearized Kinematics In previous chapters we have seen how kinematics relates the joint angles to the position and orientation of the robot's endeffector. This means that, for a serial robot,
More informationThe Performance Evaluation of the Integration of Inertial Navigation System and Global Navigation Satellite System with Analytic Constraints
Journal of Environmental Science and Engineering A 6 (2017) 313-319 doi:10.17265/2162-5298/2017.06.005 D DAVID PUBLISHING The Performance Evaluation of the Integration of Inertial Navigation System and
More informationCalibration of Triaxial Accelerometer and Triaxial Magnetometer for Tilt Compensated Electronic Compass
Calibration of Triaxial ccelerometer and Triaxial agnetometer for Tilt Compensated Electronic Compass les Kuncar artin ysel Tomas Urbanek Faculty of pplied Informatics Tomas ata University in lin Nad tranemi
More informationGEOG 4110/5100 Advanced Remote Sensing Lecture 4
GEOG 4110/5100 Advanced Remote Sensing Lecture 4 Geometric Distortion Relevant Reading: Richards, Sections 2.11-2.17 Review What factors influence radiometric distortion? What is striping in an image?
More informationQuaternions & Rotation in 3D Space
Quaternions & Rotation in 3D Space 1 Overview Quaternions: definition Quaternion properties Quaternions and rotation matrices Quaternion-rotation matrices relationship Spherical linear interpolation Concluding
More informationCyberAtom X-200 USER MANUAL. Copyrights Softexor 2015 All Rights Reserved.
CyberAtom X-200 USER MANUAL Copyrights Softexor 2015 All Rights Reserved. X-200 Contents ii Contents About...6 Block Diagram... 6 Axes Conventions...6 System Startup... 7 Selecting Power Source...7 Hardware
More information