A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications

Li, Yun; Wu, Wenqi; Jiang, Qingan; Wang, Jinling

doi:10.3390/s16122113

Cited by 4 publications

(4 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…They can be removed by calibration and compensation. The random constant bias (turn to turn bias) and random noises are the main error sources in the orientation-finding system [6,7]. In the case of light surface bathymetric surveying vehicles of the USV type, the following INSs can be found [8]:Ekinox determining roll & pitch with RMS = 0.05° (RTK outage–30 s),Apogee determining roll & pitch z RMS = 0.012° (RTK outage–60 s),Horizon determining roll & pitch z RMS = 0.01° (RTK outage–60 s).…”

Section: Introductionmentioning

confidence: 99%

Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image

Naus

Marchel

Szymak

et al. 2019

Sensors

View full text Add to dashboard Cite

The paper presents the results of research on assessing the accuracy of angular position measurement relative to the sea horizon using a camera mounted on an unmanned bathymetric surveying vehicle of the Unmanned Surface Vehicle (USV) or Unmanned Aerial Vehicle (UAV) type. The first part of the article presents the essence of the problem. The rules of taking the angular position of the vehicle into account in bathymetric surveys and the general concept of the two-camera tilt compensator were described. The second part presents a mathematical description of the meters characterizing a resolution and a mean error of measurements, made on the base of the horizon line image, recorded with an optical system with a Complementary Metal-Oxide Semiconductor (CMOS) matrix. The phenomenon of the horizon line curvature in the image projected onto the matrix that appears with the increase of the camera height has been characterized. The third part contains an example of a detailed analysis of selected cameras mounted on UAVs manufactured by DJI, carried out using the proposed meters. The obtained results including measurement resolutions of a single-pixel and mean errors of the horizon line slope measurement were presented in the form of many tables and charts with extensive comments. The final part presents the general conclusions from the performed research and a proposal of directions for their further development.

show abstract

Section: Introductionmentioning

confidence: 99%

Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image

Naus

Marchel

Szymak

et al. 2019

Sensors

View full text Add to dashboard Cite

show abstract

“…Modern methods of high-precision orientation determination include a wide usage of various gyrocompass devices [3]. However, the use of high-precision gyrocompasses with the accuracy of determining the azimuth direction better than 0.5°is substantially limited by their cost, consumption, and mass-size parameters.…”

Section: Introductionmentioning

confidence: 99%

Study of Systems Error Compensation Methods Based on Molecular-Electronic Transducers of Motion Parameters

2018

View full text Add to dashboard Cite

The main objective of the paper is to study the system errors of azimuth determination in the dynamic scheme of north finding on the base of the molecular-electronic sensitive angular motion sensor. Introduced theoretical and experimental study of some error compensation methods. Investigated the most significant system inaccuracies of azimuth determination depended on MET sensor g-sensitivity factor and the occurrence of rotation uneven in the system and as a result of tiny angular accelerations which appeared. Methods and algorithms of error reduce are experimentally verified.

show abstract

“…Inertial-based sensors are found to be the most robust and reliable for north finding. The traditional gyro north finders often use high-precision gyroscopes, such as mechanical gyroscopes, ring laser gyroscopes (RLG) [5,6], fiber optical gyroscopes (FOG) [7,8], dynamically-tuned gyroscopes (DTG) [9], and hemispherical resonator gyroscopes (HRG) [10]. They can achieve high accuracy (1–2 mils or sub mils).…”

Section: Introductionmentioning

confidence: 99%

“…Their high cost, large volume and high power consumption limit their applications in individual navigation and other fields. Current gyro north finders usually use an inertial measurement unit (IMU, three gyros and three accelerometers) to find north [5,10]. Some authors improved the use of two gyros and two accelerometers [12] or a single gyro and two accelerometers [7,9].…”

Section: Introductionmentioning

confidence: 99%

A Novel MEMS Gyro North Finder Design Based on the Rotation Modulation Technique

Zhang

Zhou

Song

et al. 2017

Sensors

View full text Add to dashboard Cite

Gyro north finders have been widely used in maneuvering weapon orientation, oil drilling and other areas. This paper proposes a novel Micro-Electro-Mechanical System (MEMS) gyroscope north finder based on the rotation modulation (RM) technique. Two rotation modulation modes (static and dynamic modulation) are applied. Compared to the traditional gyro north finders, only one single MEMS gyroscope and one MEMS accelerometer are needed, reducing the total cost since high-precision gyroscopes and accelerometers are the most expensive components in gyro north finders. To reduce the volume and enhance the reliability, wireless power and wireless data transmission technique are introduced into the rotation modulation system for the first time. To enhance the system robustness, the robust least square method (RLSM) and robust Kalman filter (RKF) are applied in the static and dynamic north finding methods, respectively. Experimental characterization resulted in a static accuracy of 0.66° and a dynamic repeatability accuracy of 1°, respectively, confirming the excellent potential of the novel north finding system. The proposed single gyro and single accelerometer north finding scheme is universal, and can be an important reference to both scientific research and industrial applications.

show abstract

A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications

Cited by 4 publications

References 15 publications

Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image

Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image

Study of Systems Error Compensation Methods Based on Molecular-Electronic Transducers of Motion Parameters

A Novel MEMS Gyro North Finder Design Based on the Rotation Modulation Technique

Contact Info

Product

Resources

About