High-Precision Simulator for Strapdown Inertial Navigation Systems Based on Real Dynamics from GNSS and IMU Integration

Yan, Gongmin; Wang, Jinling

doi:10.1007/978-3-662-46632-2_68

Cited by 21 publications

(10 citation statements)

References 3 publications

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“…For the IMU signal generator, over the decades, various approaches have been developed, which can be classified into three general categories: pure mathematical models [ 9 , 10 , 11 , 12 , 13 ], kinematic or dynamic models [ 14 , 15 , 16 , 17 ] and actual flight-data based methods [ 18 , 19 ].…”

Section: Related Workmentioning

confidence: 99%

“…In order to further illustrate the algorithm’s performance, the inverse SINS algorithm in [ 18 ] and the trajectory generation algorithm based on quaternion [ 19 ] are used with the same actual flight data. For the inverse SINS algorithm, the interpolation interval is also set as 1 s and the integrated frequency is 400 Hz.…”

Section: Simulation Tests For Analytic Imu Signal Generator Performentioning

confidence: 99%

“…Through the simulation, it can be observed that the dual quaternion interpolation algorithm developed in this study shows the highest attitude accuracy, with an error of

. The error in the quaternion interpolation algorithm

is lower than that of the inverse SINS algorithm in [ 18 ]

. Then, the position errors of the three algorithms are compared.…”

Section: Simulation Tests For Analytic Imu Signal Generator Performentioning

confidence: 99%

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IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Liu

Tang

et al. 2018

Sensors

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This paper focuses on the problem of high-update-rate and high accuracy inertial measurement unit signal generation. In order to be in accordance with the vehicle’s kinematic and dynamic characteristics as well as the characteristics of pseudorange of post-processed global navigation satellite system and their rate measurements, a novel dual quaternion interpolation and analytic integration algorithm based on actual flight data is proposed. The proposed method can simplify the piecewise analytical expressions of angular rates, angular increments and specific force integral increments. Norm corrections are adopted as constraint conditions to guarantee the accuracy of the signals. Numerical simulations are conducted to validate the method’s performance.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Simulation Tests For Analytic Imu Signal Generator Performentioning

confidence: 99%

“…Through the simulation, it can be observed that the dual quaternion interpolation algorithm developed in this study shows the highest attitude accuracy, with an error of

. The error in the quaternion interpolation algorithm

is lower than that of the inverse SINS algorithm in [ 18 ]

. Then, the position errors of the three algorithms are compared.…”

Section: Simulation Tests For Analytic Imu Signal Generator Performentioning

confidence: 99%

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IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Liu

Tang

et al. 2018

Sensors

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“…It is important to highlight that there exist nowadays many signal generators in the market for a variety of sensors-see (Ebinuma, 2015) and (Nievinski and Larson, 2014) for two examples of available GNSS simulators or (Yang et al, 2007) and (Yan et al, 2015) for IMU ones. In spite of this availability, the team in charge of the development of GEMMA decided to implement its own signal generators.…”

Section: Signal Generatorsmentioning

confidence: 99%

Gemma: A Generic, Extensible and Modular Multi-Sensor Navigation Analysis System

Navarro

Parés

Colomina³

2016

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:This paper presents the concept of an architecture for a system that helps researchers in the field of Geomatics to speed up their daily research on kinematic geodesy, navigation and positioning fields. The presented ideas correspond to an extensible and modular software system aimed at the development of new navigation and positioning algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system GEMMA is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms or model sensors needs to be taken into account. As a consequence, change poses a much smaller problem for CTTC's research activities is this specific area. This system includes several standalone tools that may be combined in different ways to accomplish various goals; that is, it may be used to perform a variety of tasks, as, for instance, (1) define positioning and navigation scenarios, (2) simulate different kinds of sensors, (3) validate new navigation algorithms or (4) evaluate the quality of an estimated navigation solution.

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“…PROFGEN can support four flight maneuvers: vertical turns, horizontal turns, sinusoidal heading changes, and straight flight. (2) The second approach is based on actual flight data [ 8 , 11 , 12 , 13 , 14 ]. The simulated signals of gyroscopes and accelerometers are correlated not only with the vehicle’s kinematics and dynamic characteristics but also with the characteristics of post-processed GNSS’s pseudo-ranges and pseudo-range rate measurements.…”

Section: Introductionmentioning

confidence: 99%

Simulation Platform for SINS/GPS Integrated Navigation System of Hypersonic Vehicles Based on Flight Mechanics

Chen

Shen

Zhou

et al. 2020

Sensors

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In this study, a simulation platform for an integrated navigation algorithm for hypersonic vehicles based on flight mechanics is designed. In addition, the generation method of inertial measurement unit data and satellite receiver data is introduced. First, the interface relationship between a high-precision six-degree-of-freedom (6DoF) model and the simulation platform in the launch-centered Earth-fixed frame is introduced. Three-axis theoretical specific force and angular velocity are output by the 6DoF model. Accelerometer and gyroscope error models are added, and integral processing of the specific force and angular velocity is performed to obtain velocity increment of the accelerometer and the angular increment of the gyroscope. These data are quantified to obtain the accelerometer and gyroscope pulses. The satellite’s pseudo-range and pseudo-range rate as well as its position and velocity are obtained from the theoretical position, velocity, the attitude of the hypersonic vehicle’s 6DoF model output, and the global positioning system (GPS) satellite broadcast ephemeris. The simulation data can be used for the verification of the loose and tight coupling integrated navigation algorithms. The simulation test verifies the accuracy of the designed method.

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High-Precision Simulator for Strapdown Inertial Navigation Systems Based on Real Dynamics from GNSS and IMU Integration

Cited by 21 publications

References 3 publications

IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Gemma: A Generic, Extensible and Modular Multi-Sensor Navigation Analysis System

Simulation Platform for SINS/GPS Integrated Navigation System of Hypersonic Vehicles Based on Flight Mechanics

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