Rapid and Robust Transfer Alignment

Tarrant, D.; Roberts, Chris; Jones, D. L.; Yang, Chun; Lin, Ching-Fang

doi:10.1109/aerocs.1993.721035

Cited by 21 publications

(16 citation statements)

References 6 publications

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“…In an accelerometer, these sources of error will misreport the inertial forces acting on the system, causing integration errors in the output velocity and position. Based on INS analysis methods developed by Tarrant et al [18] and Collin et al [19], sensor quality can be assessed by examining the positional drift due to specific sources of error. Table 2.4 presents the horizontal drift that can be expected for navigation-, tactical-, industrial-and automotive-grade accelerometers due to bias error.…”

Section: Inertial Navigation Systems (Ins)mentioning

confidence: 99%

Multimodal noncontact tracking of surgical instruments

Bracken

Naish

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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For many procedures, open surgery is being replaced with minimally invasive surgical (MIS) techniques. The advantages of MIS include reduced operative trauma and fewer complications leading to faster patient recovery, better cosmetic results and shorter hospital stays.As the demand for MIS procedures increases, effective surgical training tools must be developed to improve procedure efficiency and patient safety. Motion tracking of laparoscopic instruments can provide objective skills assessment for novices and experienced users. The most common approaches to noncontact motion capture are optical and electromagnetic (EM) tracking systems, though each approach has operational limitations. Optical trackers are prone to occlusion and the performance of EM trackers degrades in the presence of magnetic and ferromagnetic material. The cost of these systems also limits their availability for surgical training and clinical environments.This thesis describes the development and validation of a novel, noncontact laparoscopic tracking system as an inexpensive alternative to current technology. This system is based on the fusion of inertial, magnetic and distance sensing to generate real-time, 6-DOF pose data. Orientation is estimated using a Kalman-filtered attitude-heading reference system (AHRS) and restricted motion at the trocar provides a datum from which position information can be recovered.The Inertial and Range-Enhanced Surgical (IRES) Tracker was prototyped, then validated using a MIS training box and by comparison to an EM tracking system. Results of IRES tracker testing showed similar performance to an EM tracker with position error as low as 1.25 mm RMS and orientation error <0.58 • RMS along each axis. The IRES tracker also displayed greater precision and superior magnetic interference rejection capabilities. At a fraction of the cost of current laparoscopic tracking methods, the IRES tracking system would provide an excellent alternative for use in surgical training and skills assessment.

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Section: Inertial Navigation Systems (Ins)mentioning

confidence: 99%

Multimodal noncontact tracking of surgical instruments

Bracken

Naish

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…[4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] have achieved significant progress. The traditional and popular method used in TA technology is velocity match (VM).…”

Section: Introductionmentioning

confidence: 99%

“…From then on, rapid TA procedures matured with extensive research and successful experiments to numerous airborne, ground-based and naval systems, such as ADKENs and other air-to-surface weapons. 8) In 1997, Shortelle and Graham tested at VAM algorithm using F-16 flight test data. The results indicated that the VAM method achieved sub-mrad alignment accuracy in less than 10 sections.…”

Section: Introductionmentioning

confidence: 99%

“…With the advent of gimbaled INS for strategic weapons equipped in warships, some of these TA methods are not viable, as the operating principle of the gimbaled INS is different from the strap-down INS. [6][7][8] For the gimbaled INS, the gyros measure the platform rotational rate instead of body rotational rate in the strap-down INS, and the accelerometers measure the specific force in the platform frame instead of body frame in the strap-down INS. With these measurements, the missile-borne computer gives the command angular rate as output through navigation algorithm, and the platform is controlled by a servo mechanism to implement orientation in the inertial space or tracking the navigation coordinate frame.…”

Section: Introductionmentioning

confidence: 99%

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Novel Transfer Alignment of Shipborne Gimbaled Inertial Navigation Systems

Ding

Cai

Yang

2014

Trans. Japan Soc. Aero. S Sci.

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Aiming at transfer alignment of gimbaled inertial navigation systems (INS) on a moving base, we propose an attitude matching alignment model to align the attitude of the slave platform. This method is achieved by applying an unscented Kalman filter to estimate the fixed misalignment angle, and the misalignment angle can be obtained only with attitude maneuvers, which are very easy for the ship to implement. Firstly, the frame dynamics equations are introduced. Then, frame angular error differential equations, which include the ship-body flexure and other alignment errors, are set up via the frame angle information from the master and the slave INS platform. With these frameworks, the nonlinear attitude matching alignment model is designed based on unscented Kalman filter technology. The simulation results show that the proposed method can obtain an alignment to an accuracy of 1.5 0 and alignment time of 50 sections.

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“…The first subgroup of studies reported in the literature determines the in-flight flexible aircraft wing motion by using some sort of measurement technique (Li et al, 2006;Lizotte and Lokos, 2005;Kaiser et al, 1998;Lokos et al, 1995). The second subgroup models the flexibilities and/or vibrations of the aircraft wing stochastically (Xie et al, 2011;Xie et al, 2010;Groves and Haddock, 2001;Stovall, 1996;Graham and Shortelle, 1995;Yang et al, 1993;Tarrant et al, 1993;Jones et al, 1993;Spalding, 1992;Pszczel and Bucco, 1992;Rogers, 1991;Kain and Clouter, 1989;Schneider, 1983). The stochastic model approach is based on data recorded during the captive carry tests of the aircraft.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Flexure Effect on Transfer Alignment Performance

Pehlivanoğlu

Ercan

2012

J. Navigation

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Transfer Alignment (TA) is the initialisation process of the Inertial Navigation System (INS) of an air-launched weapon before its release by using the data from the aircraft INS. The aim of this paper is to improve the TA performance by taking into account the aircraft flexures deterministically. The developed procedure neither requires captive carry tests for determination of flexures nor increases the size of the problem, and can be used in real-time missions of any type of military aircraft. The procedure is evaluated for the Velocity Match (VM) method as well as the Velocity and Attitude Match (VAM) method, which are applied through a Kalman Filter (KF). Using a short-time Wing-Rock (WR) manoeuvre, the results of both methods are compared to each other for two cases in which either the flexures are taken into account deterministically, or modelled as noise by assuming that they are unknown. Standard deviations of the errors and the Circular Error Probable (CEP) variations have shown that the TA performance of the VAM method can be much improved if aircraft flexures are incorporated deterministically into the method. The improved performance makes possible target of opportunity missions at shorter weapon ranges, and it decreases target strike errors. K E Y WO R D S 1. Transfer Alignment (TA).2. Kalman Filter (KF). 3. Aircraft Flexure.

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Rapid and Robust Transfer Alignment

Cited by 21 publications

References 6 publications

Multimodal noncontact tracking of surgical instruments

Multimodal noncontact tracking of surgical instruments

Novel Transfer Alignment of Shipborne Gimbaled Inertial Navigation Systems

Investigation of Flexure Effect on Transfer Alignment Performance

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