Combining inertial measurements and distributed magnetometry for motion estimation

Dorveaux, Éric; Boudot, Thomas; Hillion, Mathieu; Petit, Nicolas

doi:10.1109/acc.2011.5990993

Cited by 27 publications

(21 citation statements)

References 15 publications

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“…It has been introduced for ground navigation applications (for pedestrians [3,4] and automotive vehicles [5,6], mostly). Interestingly, it can be generalized to space vehicles, at the expense of more sophisticated equations modeling the Earth magnetic ¦eld as rotating with the Earth.…”

Section: Basic Equations Of Magneto-inertial Navigationmentioning

confidence: 99%

Using distributed magnetometry in navigation of heavy launchers and space vehicles

Praly

Bristeau

Laurent-Varin

et al. 2013

Progress in Flight Dynamics, Guidance, Navigation, Control, Fault Detection, and Avionics

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Recently, a new technique (magneto-inertial navigation, MINAV) has emerged to address the general problem of reconstructing the inertial velocity of a rigid body moving in a magnetically disturbed region. The contribution of this paper is to apply the developed method, in a prospective spirit, to a case of space navigation in view of estimating the performance improvement that could be obtained using state-of-theart magnetometer technology onboard heavy launchers and other space vehicles. The main underlying idea of the approach is to estimate the inertial velocity by readings of the magnetic ¦eld at spatially distributed (known) locations on the rigid body. Mathematically, through a chainrule di¨erentiation involving variables commonly appearing in classic inertial navigation, an estimate of this velocity can be obtained. This paper presents the potential of this method in the ¦eld of navigation of heavy launchers passing through particular regions of the Earth magnetosphere as considered, e. g., for upcoming Galileo missions. Numerical results based on the speci¦cations of candidate embedded magnetic sensors stress the relevance of the approach. The presented methodology is patent pending and has been partially funded by CNES.

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Section: Basic Equations Of Magneto-inertial Navigationmentioning

confidence: 99%

Using distributed magnetometry in navigation of heavy launchers and space vehicles

Praly

Bristeau

Laurent-Varin

et al. 2013

Progress in Flight Dynamics, Guidance, Navigation, Control, Fault Detection, and Avionics

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“…Taking the derivative of (1) giveṡ h(t) = −S (ω(t)) h(t) + J (t) v(t), where v(t) ∈ R 3 is the linear velocity of the mobile platform, expressed in body-fixed coordinates, and J(t) ∈ R 3×3 is the Jacobian of the magnetic field, expressed in body-fixed coordinates. It is related to the Jacobian of the inertial magnetic field as [7] J(t) = R T (t)J i (t, p(t)) R(t).…”

Section: A System Dynamicsmentioning

confidence: 99%

Further results on the observability in magneto-inertial navigation

Batista¹,

Petit

Silvestre³

et al. 2013

2013 American Control Conference

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Abstract-This paper shows that one can relax an important assumption usually formulated to employ the magneto-inertial navigation (MINAV) technique. This technique, which allows to reconstruct the velocity of a rigid body moving in a magnetically disturbed area, usually assumes that the (unknown) Jacobian of the magnetic field is everywhere non-singular. As it is here demonstrated, this assumption can be significantly alleviated thanks to further investigations on the observability of the dynamics at stake. Corresponding relaxed assumptions require rotations to sufficiently come into play during the motion one wishes to estimate the velocity of. This result opens new perspectives on the range of applicability of the MINAV technique.

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“…Since the accuracy of the initial attitude matrix determines the performance of AUVs' SINS, initial alignment is regarded as one of the key technologies of SINS [7,8]. What is more, the alignment speed and alignment accuracy are two main technical indicators of initial alignment, which will determine the navigation and positioning accuracy [9,10].…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Initial Alignment Algorithm Based on Variance Component Estimation for a Strapdown Inertial Navigation System for AUV

Dong

Sun

et al. 2017

Symmetry

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Abstract:As a typical navigation system, the strapdown inertial navigation system (SINS) is crucial for autonomous underwater vehicles (AUVs) since the SINS accuracy determines the performance of AUVs. Initial alignment is one of the key technologies in SINS, and initial alignment time and initial alignment accuracy affect the performance of SINS directly. As actual systems are nonlinear, the nonlinear filter is widely used to improve the accuracy of the initial alignment. Due to its higher precision and lower computational load, the cubature Kalman filter (CKF) has done well in state estimation. However, the noise characteristics need to be known exactly as prior knowledge, which is difficult or even impossible to achieve. Thus, the adaptive filter should be introduced in the initial alignment algorithm to suppress the uncertainty effect caused by the unknown system noise. Therefore, taking the nonlinearity and uncertainty into account, a novel initial alignment algorithm for AUVs is proposed in this manuscript, based on CKF and the adaptive variance components estimation (VCE) filter (VCKF). Additionally, the simulation and experiment results show that not only the accuracy, but also the convergence speed can be improved with this proposed method. The validity and superiority of this novel adaptive initial alignment algorithm based on VCKF are verified.

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Combining inertial measurements and distributed magnetometry for motion estimation

Cited by 27 publications

References 15 publications

Using distributed magnetometry in navigation of heavy launchers and space vehicles

Using distributed magnetometry in navigation of heavy launchers and space vehicles

Further results on the observability in magneto-inertial navigation

An Adaptive Initial Alignment Algorithm Based on Variance Component Estimation for a Strapdown Inertial Navigation System for AUV

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