Kanishk Raj Pandey

B.Tech 7 sem

(IIET,Bareilly)
INERTIAL NAVIGATION
SYSTEMS
INS
 Inertial navigation system

An inertial navigation system (INS) is a navigation

aid that uses a computer, motion sensors (
accelerometers) and rotation sensors (gyroscopes) to
continuously calculate via dead reckoning the position,
orientation, and velocity (direction and speed of
movement) of a moving object without the need for
external references. It is used on vehicles such as ships,
aircraft, submarines, guided missiles, and spacecraft.
Other terms used to refer to inertial navigation systems
or closely related devices include inertial guidance
system, inertial reference platform, inertial
instrument, and many other variations.
Contents

Overview
Error
History
Guidance in Human spaceflight
Aircraft inertial guidance
Inertial navigation systems in detail
Basic schemes
Methodology
See also
References
External links
Overview
An inertial navigation system includes at least a computer and a
platform or module containing accelerometers, gyroscopes, or
other motion-sensing devices. The INS is initially provided with
its position and velocity from another source (a human operator,
a GPS satellite receiver, etc.), and thereafter computes its own
updated position and velocity by integrating information
received from the motion sensors. The advantage of an INS is that
it requires no external references in order to determine its
position, orientation, or velocity once it has been initialized.
An INS can detect a change in its geographic position (a move
east or north, for example), a change in its velocity (speed and
direction of movement), and a change in its orientation (rotation
about an axis). It does this by measuring the linear and angular
accelerations applied to the system. Since it requires no external
reference (after initialization), it is immune to jamming and
deception.
Inertial-navigation systems are used in many different
moving objects, including vehicles—such as aircraft,
submarines, spacecraft—and guided missiles.
However, their cost and complexity place constraints
on the environments in which they are practical for
use
gyroscopes measure the angular velocity of the system
in the inertial reference frame. By using the original
orientation of the system in the inertial reference
frame as the initial condition and integrating the
angular velocity, the system's current orientation is
known at all times.
Accelerometers measure the linear acceleration of the
system in the inertial reference frame, but in
directions that can only be measured relative to the
moving system (since the accelerometers are fixed to
the system and rotate with the system, but are not
aware of their own orientation).
However, by tracking both the current angular
velocity of the system and the current linear
acceleration of the system measured relative to the
moving system, it is possible to determine the linear
acceleration of the system in the inertial reference
frame.
Error
All inertial navigation systems suffer from
integration drift: small errors in the measurement of
acceleration and angular velocity are integrated into
progressively larger errors in velocity, which are
compounded into still greater errors in position. Since
the new position is calculated from the previous
calculated position and the measured acceleration and
angular velocity, these errors are cumulative and
increase at a rate roughly proportional to the time
since the initial position was input.
History
Inertial navigation systems were originally developed for
rockets. American rocket pioneer Robert Goddard
experimented with rudimentary gyroscopic systems. Dr.
Goddard's systems were of great interest to contemporary
German pioneers including Wernher von Braun. The
systems entered more widespread use with the advent of
spacecraft, guided missiles, and commercial airliners.
 In the early 1950s, the US government wanted to insulate itself
against over dependency on the Germany team for military
applications. Among the areas that were domestically
"developed" was missile guidance. In the early 1950's the MIT
Instrumentation Laboratory (later to become the
Charles Stark Draper Laboratory, Inc.) was chosen by the Air
Force Western Development Division to provide a self-contained
guidance system backup to Convair in San Diego for the new
Atlas intercontinental ballistic missile (Construction and
testing were completed by Arma Division of AmBosch Arma).
WORD TO THE WISE
The inertial system uses deviations to
generate corrective commands to drive the
system from a position where it is, to a
position where it isn’t, arriving at the position
where it wasn’t, it now is. Consequently the
position where it is, is now the position where
it wasn’t and it follows the position where it
was is the position where it isn’t.
INERTIAL NAVIGATION SYSTEMS
Completely self-contained navigation system capable
of providing great circle tracks over random routes
without reference to external information sources.
- The most complex and expensive flight deck navigation
system currently in use.
- Still the navigation system of choice for many
operations.
- Developed for the military – accurate, reliable, not
susceptible to signal jamming or erroneous signal
transmission.
- Extremely simple in concept, extremely complicated in
execution.
- Sometimes described as a very accurate dead-reckoning
system.
INERTIAL NAVIGATION SYSTEMS
Starts from a known point, advances estimated position
based on speed, direction and time.
- Uses acceleration (changes in speed & direction) in place of
speed itself.
- Movement detected by accelerometers mounted on a stable
platform (Stabilized gyroscopically).
- Accelerometers are like pendulums but more sophisticated,
using sliding shutters with frictionless bearings and now
solid state technology.
- This is the basic principal of INS.
- Most critical element is platform stability.
- Gyros are of primary importance.
- Accelerometer technology fairly static; advances now are
mostly in gyro technology, especially Ring Laser Gyros.
LASER-light amplification by stimulated emission of radiation
The basic operating principle of a laser is to use light or electrical
impulses to excite atoms of a crystal, gas, liquid, or other substance. The
atoms release light energy (photons) to return to their original state.
Atoms of the same type will release light energy of the same frequency.
Mirrors are used to contain the photons which further excite the atoms
into releasing even more photons; some of these photons escape through
a partially silvered mirror as coherent light. This light energy is emitted
as a directional beam.
RING LASER GYROS
 Two laser beams travel around a closed circuit (made with three
or four mirrors) in opposite directions and are sensed by a
detector.

 When the gyroscope is not turning, the two beams are both at
the same frequency and the detector senses a level attitude.

 As the gyroscope turns, the two beams have to travel different

distances around the circuit.

 As viewed from a reference point inside the gyro (the detector),

there is a shift in the frequencies of the two laser beams
RING LASER GYROS
An electronic processor calculates the difference between
the frequencies of the two laser beams.

The rate of rotation of the gyro determines the phase

difference of the frequencies. Each particular phase
difference coincides with a unique rate of turn which the
processor can thus calculate.

Each ring laser gyroscope only rotates on one axis,

therefore three of them are required to register changes in
pitch, roll, and yaw.
ADVANTAGES
Few moving parts
Small size and light weight
Rigid construction
High tolerance to shock, acceleration,
and vibration
High level of accuracy
Low cost over the lifetime of the gyro
DISADVANTAGES
Base cost of Laser ring gyros is more expensive than
mechanical gyros.

Laser ring gyros are susceptible to an error known as

“LOCK-IN”
LOCK-IN
When the rate of turn is very small, the frequency
difference between the two beams is small.
There is a tendency for the two frequencies to “couple”
together and “lock-in” with each other.
As a result of lock-in, a zero turning rate is indicated.
LOCK-IN
While lock-in errors are not substantial, they can be
accounted for by using more complex ring laser gyro
systems.
By mechanically moving or twisting the system, the
coupling of frequencies does not occur.
This mechanical adjustment is called DITHERING.
Requirement
We are integrating through a Kalman filter two
Accelerometer and a three Gyroscope digital compass
into one navigational system in space that provides
precise and smooth results.
Problems ?
White noise
Drift velocity Etc…….
 Accelerometer
 2-axis measurement; X-Y measurement and Z-Y
The accelerometer weighs <
1.2g.
The size of the part is
measurement
 Measuring range ±1.7g approximately (W x H x L) 9 x
 Single +5V supply; two ratio-metric analog 5 x 16 mm.
voltage outputs
 Serial Peripheral Interface (SPI) compatible
digital output (11 bits)
 Frequency response –3dB at Condition -40…
125°C is 50±30Hz
 Output noise density is80µg/Hz
 Sensitivity at room temperature is 1.2V/g
 Zero point Mounting position is Vdd/2V(2.5V)
 Zero point error over temperature 25…85°C
typical is ±70mg
 Sensitivity error over temperature 25…85°C
typical is ±3%
 Typical non-linearity Over measuring range is
±20mg
 Ratio-metric error Vdd = 4.75...5.25V is 2%
Gyroscope
 SENSITIVITY Clockwise
rotation is positive output
 Dynamic Range Full-scale
range ±300 °/s
 Initial Min.4.6mV and Max. 5.4
mV/°/s
 Nonlinearity Best fit straight
line
 Initial null 2.50V± 2V
 POWER SUPPLY Operating
Voltage Range 5.00V
 The electrostatic resonator
requires 14 V to 16 V for
operation.
 Since only 5 V is typically
available in most applications,
a
 charge pump is included on-
chip
Gyroscope
 Kalman Filter
 KF is a set of mathematical equation that implement as
simply recursive data processing algorithm

 The recursive data process mean KF does not require all

previous data to be kept in storage and reprocessed very time
a new measurement is taken

 The “filter” is actually a data processing algorithm it is like a

computer program in a central processor.

 The process have two type estimator predictor –corrected that

is optimal in sense that minimizes the estimated error
covariance process.

 There two type system one is linear system other is nonlinear

system
STABLE PLATFORM
Stable platform has 2 functions:

To keep accelerometers aligned with the surface of

earth despite changes in aircraft attitude. This is
accomplished by mounting the platform on gimbals.

To keep the stable platform aligned with surface of

earth to compensate for transport and earth rate
precession. These apparent errors are corrected by
torquing – a feedback process that keeps the stable
platform level with the local vertical through the
application of real precession.
STRAPDOWN PLATFORM
 In a strapdown platform
installation the platform is
not gimbaled; instead ring
laser gyro feedback allows a
computer to electronically
monitor orientation of the
platform.
CONTROL DISPLAY UNIT (CDU)
2 Flavours:- Older 2-window display & more modern
CRT display
Older displays easier to read but CRT units provide
much more information
Multiple flight plans, >9 waypoints
Used in conjunction with mode select panel

Standby Battery – Absolutely critical to avoid

complete loss of unit during power variations

These form the system package

TRIPLE SYSTEMS
 Ultimate & most expensive form
 Provides double redundancy + second check on route entry &
initialization + supporting information when systems diverge
- Voting identifies weakest system by matching 2 closest
together & rejecting the 3rd
- 3rd could be most accurate one but odds are in favour of
the other 2
- Eliminates “Rogue system”
 Triple Mixing is flip side of voting – uses middle Lat & Long co-
ordinates to produce a single, optimum position estimate
 Typical drift of 1.7 NM/Hour is about cut in half to 1.0 NM/Hour
with modern gyros
MIXED SYSTEMS
-Another way to provide redundancy is by adding
a complimentary system such as GPS. This system
can be used to update the INS.
Thank You