Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy
Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrenc...
| Main Authors: | , |
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| Format: | Article |
| Language: | fas |
| Published: |
Iranian Association of Naval Architecture and Marine Engineering
2019-04-01
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| Series: | نشریه مهندسی دریا |
| Subjects: | |
| Online Access: | http://marine-eng.ir/article-1-678-en.html |
| _version_ | 1828898310645088256 |
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| author | mojtaba hashemi alireza naderi |
| author_facet | mojtaba hashemi alireza naderi |
| author_sort | mojtaba hashemi |
| collection | DOAJ |
| description | Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrence makes the sensor reliability is decreased. Rotation of Inertial Measurement Unit(RIMU) and use of redundant IMUs despite single unit is an approach for precision and reliability incensement. In this paper three units IMU is placed in rotational table. The mean of three units IMU is considered as virtual IMU, then INS mechanization is solved after rotation compensation. Experimental results show that the position estimation error without rotation is 10 times of estimation error in rotary case. Attitude estimation is stable in rotatory case despite instability in conventional case. |
| first_indexed | 2024-12-13T15:13:07Z |
| format | Article |
| id | doaj.art-d93a39918cdc4737969f9c0693904074 |
| institution | Directory Open Access Journal |
| issn | 1735-7608 2645-8136 |
| language | fas |
| last_indexed | 2024-12-13T15:13:07Z |
| publishDate | 2019-04-01 |
| publisher | Iranian Association of Naval Architecture and Marine Engineering |
| record_format | Article |
| series | نشریه مهندسی دریا |
| spelling | doaj.art-d93a39918cdc4737969f9c06939040742022-12-21T23:40:47ZfasIranian Association of Naval Architecture and Marine Engineeringنشریه مهندسی دریا1735-76082645-81362019-04-01152919Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancymojtaba hashemi0alireza naderi1 ihu ihu Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrence makes the sensor reliability is decreased. Rotation of Inertial Measurement Unit(RIMU) and use of redundant IMUs despite single unit is an approach for precision and reliability incensement. In this paper three units IMU is placed in rotational table. The mean of three units IMU is considered as virtual IMU, then INS mechanization is solved after rotation compensation. Experimental results show that the position estimation error without rotation is 10 times of estimation error in rotary case. Attitude estimation is stable in rotatory case despite instability in conventional case.http://marine-eng.ir/article-1-678-en.htmlinsrotary insredundant sensorsprecision increment. |
| spellingShingle | mojtaba hashemi alireza naderi Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy نشریه مهندسی دریا ins rotary ins redundant sensors precision increment. |
| title | Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy |
| title_full | Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy |
| title_fullStr | Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy |
| title_full_unstemmed | Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy |
| title_short | Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy |
| title_sort | precision and reliability incensement of inertial navigation system with rotation and redundancy |
| topic | ins rotary ins redundant sensors precision increment. |
| url | http://marine-eng.ir/article-1-678-en.html |
| work_keys_str_mv | AT mojtabahashemi precisionandreliabilityincensementofinertialnavigationsystemwithrotationandredundancy AT alirezanaderi precisionandreliabilityincensementofinertialnavigationsystemwithrotationandredundancy |