Doppler Radar Error Equations for Damped Inertial Navigation System Analysis

Kasper, Joseph F.; Nash, Raymond A.

doi:10.1109/taes.1975.308125

Cited by 8 publications

(3 citation statements)

References 3 publications

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“…In common strapdown INS the three oscillations are stabilized by comparing the inertial indication of velocity with that available from an external reference, and then directly feeding the difference back as input to the velocity integrators, possibly through damping equalizer which is a frequency sensitive gain [13]. For marine application, the reference velocity source is usually an Electromagnetic log or a Doppler velocity log.…”

Section: Damping Technology For Transversal Strapdown Insmentioning

confidence: 99%

Transversal strapdown INS and damping technology for marine in polar region

Ben

Sun

et al. 2014

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014

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Common mechanizations are not applicable for a marine strapdown Inertial Navigation System (INS) in Polar Region. Aiming at this problem, transversal strapdown INS mechanization and corresponding damping technology are proposed in this paper to replace common strapdown INS mechanizations. The transversal coordinate system is constructed for the mechanization of transversal strapdown INS, and then an error analysis for transversal strapdown INS is performed. The error analysis for transversal strapdown INS reveals the fact that the system also includes three kinds of periodic oscillating errors as common strapdown INS. To restrain the periodic oscillating errors, damping equalizers applicable to transversal strapdown INS are designed with reference velocity compensating the effect of ship motion. Finally simulation test is carried out to demonstrate the performance of transversal strapdown INS and damping technology in Polar Region.

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Section: Damping Technology For Transversal Strapdown Insmentioning

confidence: 99%

Transversal strapdown INS and damping technology for marine in polar region

Ben

Sun

et al. 2014

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014

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show abstract

“…However, satellite signals are vulnerable to external interference and frequency blocking, and are easy to lose signals in buildings and tunnels, which cannot be applied to complex environments [5][6] . Doppler radar uses Doppler effect to measure the motion velocity of objects, with advantages such as high output frequency, strong autonomy, and difficulty in being interfered [7][8][9][10][11] . Yang Bo [10] uses the speed measurement information of Doppler radar to assist the SINS to achieve precise alignment in the air during the flight, and uses the speed output of Doppler radar and the SINS output to construct measurement, which can further improve the alignment accuracy by using aircraft maneuvering.…”

Section: Introductionmentioning

confidence: 99%

An initial alignment algorithm of strapdown inertial navigation system assisted by Doppler radar based on adaptive filtering

Liu,

Yang

2023

Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023)

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In order to realize the autonomous initial alignment of the vehicle-borne strapdown inertial navigation system (SINS) on the moving base, an adaptive filter based initial alignment algorithm for Doppler radar-assisted SINS is proposed. The error analysis and modeling about Doppler radar and SINS are carried out, and the alignment state variables are selected according to the established error model. The measurement equation is established by using output of Doppler radar and SINS. The initial alignment algorithm is designed based on adaptive filtering. The simulation results show that the azimuth angle alignment accuracy of the method is better than 3', and the horizontal angle alignment accuracy is better than 1' in 220 s. The initial alignment can be completed quickly and accurately in the case of large Doppler radar velocity variance.

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“…Yet the accuracy of reference velocity will be affected by the sea conditions and the ship's maneuver, and the navigation accuracy is sensitive to reference velocity error. Reference [12] modeled the velocity error of DVL and analyzed the effect on the external horizontal damping system in detail. To diminish the influence caused by the reference velocity error, a novel horizontal damping network for INS based on complementary filtering was proposed in Reference [13].…”

Section: Introductionmentioning

confidence: 99%

Design of Variable Damping INS for Ships Based on the Variation of Reference Velocity Error

Liu

et al. 2021

Journal of Sensors

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Schuler oscillation damping is one of the key technologies to improve the long-term precision of inertial navigation systems (INSs). Generally, a ship introduces the reference velocity to work on the external horizontal damping status to avoid the effects caused by maneuvers. However, the navigation accuracy is sensitive to the reference velocity error which will be affected by sea conditions and the ship’s maneuver. It is necessary to adjust the damping status dynamically as the change of the reference velocity error to ensure the accuracy and stability of INS. To address this problem, a novel variable damping system based on the variation of the reference velocity error is designed in this paper. First of all, this proposed method switched the damping status according to the variation of the reference velocity error in a certain period of time based on the principle of window detection. In addition, this paper designed a fuzzy controller to avoid the overshoot caused by the frequent switching of the damping status. What is more, a method of overshoot suppression was applied in this system. Simulation experiments were conducted to validate the theoretical analysis and the effectiveness of this method. Compared with the undamping system, constant damping system, and traditional variable damping system, the simulation results verified that the designed variable damping system can attenuate the system error caused by reference velocity error most effectively, thus improving the navigation accuracy of INS.

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Doppler Radar Error Equations for Damped Inertial Navigation System Analysis

Cited by 8 publications

References 3 publications

Transversal strapdown INS and damping technology for marine in polar region

Transversal strapdown INS and damping technology for marine in polar region

An initial alignment algorithm of strapdown inertial navigation system assisted by Doppler radar based on adaptive filtering

Design of Variable Damping INS for Ships Based on the Variation of Reference Velocity Error

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