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Chaps 5

1. An inertial navigation system (INS) uses gyroscopes and accelerometers to continuously calculate the position, orientation, and velocity of a moving object without needing external references. 2. An INS consists of an inertial measurement unit containing gyroscopes and accelerometers, instrument support electronics, and navigation computers that integrate sensor data to estimate position by calculating gravitational acceleration and integrating acceleration. 3. There are two main INS technologies - stabilized platform systems which isolate sensors from vehicle motion mechanically, and strapdown systems which rigidly attach sensors to the vehicle, reducing size and cost but increasing computational complexity.

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Sagar Ranabhat
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85 views27 pages

Chaps 5

1. An inertial navigation system (INS) uses gyroscopes and accelerometers to continuously calculate the position, orientation, and velocity of a moving object without needing external references. 2. An INS consists of an inertial measurement unit containing gyroscopes and accelerometers, instrument support electronics, and navigation computers that integrate sensor data to estimate position by calculating gravitational acceleration and integrating acceleration. 3. There are two main INS technologies - stabilized platform systems which isolate sensors from vehicle motion mechanically, and strapdown systems which rigidly attach sensors to the vehicle, reducing size and cost but increasing computational complexity.

Uploaded by

Sagar Ranabhat
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 5

Positioning by Inertial Navigation System


Basic Form of Navigation
Basic forms of Navigation
1. Pilotage
 Before the advent of satellite navigation pilot had to know how to
get from point A to point B, only using limited resource.
 These resources are chart, magnetic compass, clock, landmark below
them.
 Even with the advanced navigation system available today pilot are
expected to know how to apply pilotage skill.
Contd…

Fig : Aeronautical Chart


Contd…
2. Dead reckoning
It is the process of calculating one’s
current position by using previously
determined position of fix and
advancing that position based upon
known or estimated speed over elapsed
time and course
Why Dead reckoning
• Sometimes pilot won’t be able to clearly see a
landmark out the cockpit, this will occur if you
were to fly into clouds, large stretch of water or desert,
so by dead reckoning pilot can work out how to reach
the next checkpoint.
Contd…

Celestial Navigation

Inertial Navigation

Satellite Navigation
Terminology
•Inertia : is the property of bodies to maintain constant
translational and rotational velocity, unless disturbed
by forces or torques, respectively (Newton’s first law
of motion).
•Inertial Reference frame :
is a coordinate frame in which constant velocity exist i.e. acceleration is zero. Inertial reference frames are
neither rotating
nor accelerating.
•Inertial sensors :
measure rotation rate and acceleration, both of which are vector valued variables.
•Gyroscopes :
are sensors for measuring rotation: rate gyroscopes measure rotation rate, and integrating gyroscopes
(also called whole‐angle gyroscopes) measure rotation angle.
•Accelerometers :
are sensors for measuring acceleration. However, accelerometers cannot measure gravitational
acceleration. That is, an
accelerometer in free fall (or in orbit) has no detectable input.
Inertial navigation
• Inertia is the property of a physical body which maintain its velocity
( translational or angular) unless disturbed by an external force.
• Inertial sensors measure the translational and rotational motion
• An accelerometer measures acceleration
• A gyroscope measure the angular velocity
• Manufacturers integrates three-axis accelerometer and three-axis
gyroscopes into a single device called Inertial Measurement Unit.
Inertial Navigation System
Contd…
• An inertial measurement unit (IMU) or inertial reference unit (IRU) contains
a cluster of sensors: accelerometers (three or more, but usually three) and
gyroscopes (three or more, but usually three). These sensors are rigidly
mounted to a common base to maintain the same relative orientation.
• Inertial measurement units (IMUs) typically contain three orthogonal rate-
gyroscopes and three orthogonal accelerometers, measuring angular velocity
and linear acceleration respectively.
• Inertial navigation is a self-contained navigation technique in which
measurements provided by accelerometers and gyroscopes are used to track
the position and orientation of an object relative to a known starting point,
orientation and velocity.
Contd…

Fig : IMU
Component of INS
What does an INS consist of?
• An inertial navigation uses gyroscopes and accelerometers to maintain an
estimate of the position, velocity, and attitude rates of the vehicle in or on
which the INS is carried, which could be a land vehicle, aircraft,
spacecraft, missile, surface ship, or submarine.
• An INS consists of the following:
– An IMU
– Instrument support electronics
– Navigation computers (one or more) calculate the gravitational
acceleration (not measured by accelerometers) and doubly integrate the
net acceleration to maintain an estimate of the position of the host vehicle.
Accelerometers
• The basic principle of accelerometers is to measure the forces acting on a
proof mass.
• When the accelerometer experiences an acceleration, the mass is
displaced to the point that the spring is able to accelerate the mass at
the same rate as the casing. The displacement is then measured to give
the acceleration.
• Two types of accelerometers:
- open loop (e.g. spring based accelerometers) measure the displacement of the
proof mass resulting from external forces acting on the sensor.
- closed loop (e.g. pendulous or electrostatic accelerometers) keep the proof mass
in a state of equilibrium by generating a force that is opposite to the applied force.
Inertial Sensors
• The sensor commonly used in dead reckoning are termed as inertial sensors and
the comprise accelerometer, gyroscopes and magnetometer(is not in course).
• Sensor are either mechanical, optical or MEMS (Microelectromechanical
System).
• The main disadvantages of mechanical sensors is that they contain moving parts,
resulting both wear and tear.
• Optical sensor are highly accurate but they are very expensive
• MEMS sensor are very cheap and highly versatile ( they can be easily and directly
interfaced to microcontroller).
• But measurement by MEMS sensors are significantly corrupted by noise.
Contd…
Spring accelerometers
Pendulous accelerometers
Stabilized Platform and Strapdown
Technologies

• There are many different designs of INS with different performance


characteristics, but they fall generally into two categories:
– gimbaled or stabilized platform techniques, and
– strapdown
• The original applications of INS technology used stable platform techniques. In
such systems, the inertial sensors are mounted on a stable platform and
mechanically isolated from the rotational motion of the vehicle. Platform systems
are still in use, particularly for those applications requiring very accurate
estimates of navigation data, such as ships and submarines.
• Modern systems have removed most of the mechanical complexity of platform
systems by having the sensors attached rigidly, or “strapped down”, to the body
of the host vehicle. The potential benefits of this approach are lower cost,
reduced size, and greater reliability compared with equivalent platform systems.
The major disadvantage is a substantial increase in computing complexity.
Contd…
Contd…
Contd…
Contd…
Contd…
Stable platform vs Strapdown
• Stable platform and strapdown systems are both based on the same
underlying principles. Strapdown systems have reduced mechanical
complexity and tend to be physically smaller than stable platform
systems. These benefits are achieved at the cost of increased
computational complexity. As the cost of computation has decreased
strapdown systems have become the dominant type of INS.
Contd…

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