A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes
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A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes. Robotics. 전자공학과. 201250797. 깡돌가. 2013.04.29. 1. Introduction . 2. Algorithm and method. 3. Experiment and result. 4. Conclusion . contents. introduction. Inertial navigation system everywhere. introduction.

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A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes

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A low cost and fail safe inertial navigation system for airplanes

A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes

Robotics

전자공학과

201250797

깡돌가

2013.04.29


A low cost and fail safe inertial navigation system for airplanes

1.

Introduction

2.

Algorithm and method

3.

Experiment and result

4.

Conclusion

contents


A low cost and fail safe inertial navigation system for airplanes

introduction

Inertial navigation system everywhere


A low cost and fail safe inertial navigation system for airplanes

introduction

Compass

INS

Accelerometer

Gyroscope

GPS

Airspeed

ASL board

Triadis ISU


A low cost and fail safe inertial navigation system for airplanes

introduction

The parameterization of orientation as well as nonlinearities are the major challenges inherent to the state reconstruction with six degrees of freedom.

A minimal orientation representation e.g. with Tait-Bryan angles yields singularities, but angle/axis or the quaternion description cannot be directly used due to the additional unit length constraint.

Concerning the second difficulty, namely nonlinearities, various alternatives to the EKF have been proposed and related research is ongoing. The EKF uses linearization around the estimated state for the propagation of covariances.


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

During normal operation, when GPS is available, respective position updates are performed. At the same time, the wind is estimated, along with some of its statistical properties using airspeed measurements.


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

In the case of (temporary) unavailability of position measurements, however, the system will switch to its back-up mode, where the airspeed vector measurement is used as filter update instead of the position update.


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

It is well understood that MEMS inertial sensors suffer from bias drift and even scale change, mostly caused by temperature and mechanical stress variation. Therefore, the biases are typically included into the state vector.

the bias of the gyroscope and accelerometer

the atmospheric pressure reduced to sea level (QFF)


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

The (noise free) INS equations are


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

Linearizing the system around the states (x) allows describing the dynamics of the error states:

Via straightforward derivation, the system matrix:


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

For the sake of simplicity and limited computational power, the choice was made to discretize both the nonlinear system and the linearization with a zerothorder approximation:


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm

Before formulating the propagation equation for the state error covariance matrix P, some attention is paid to the process noise. We assume that zero-mean Gaussian White Noise dw is corrupting the system. In the linear case,


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm


A low cost and fail safe inertial navigation system for airplanes

Method, algorithm


A low cost and fail safe inertial navigation system for airplanes

Experiment, result

Experiment is 45-minute-long trajectory of a flight lasting several hours. For the evaluation of the proposed backup filter, the GPS positions were ignored for 30 minutes and replaced by airspeed backup updates.

Glider pilot’s view


A low cost and fail safe inertial navigation system for airplanes

Experiment, result


A low cost and fail safe inertial navigation system for airplanes

conclusion

A robust state estimation framework for airplanes was presented that is based on Extended KalmanFiltering. The generality of the proposed framework makes it applicable to both unmanned and manned airplanes. Not only inertial sensors, magnetometers and GPS updates are used, but also both static and dynamic pressure measurements. The resulting filter is robust in the sense that it can cope with even long GPS outage.


A low cost and fail safe inertial navigation system for airplanes

conclusion

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