Robust inertial frame-based alignment of fiber-optic gyro strapdown inertial navigation systems using a generalized proportional–integral–derivative filter

Rahgoshay, Mohammad Ali; Karimaghaie, Paknoosh; Shabaninia, Faridoon

doi:10.1117/1.oe.56.9.095102

Cited by 5 publications

(5 citation statements)

References 25 publications

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“…In addition to current measurement, the GPID filter also uses past and prediction of future measurements to estimate the current state and attains a more desirable performance compared to the standard KF. The GPID filter was used in the initial self-alignment of SINS for the first time (19,20). The self-alignment process is performed by stationary or quasi-stationary assumptions without using any external aided measurements.…”

Section: Related Workmentioning

confidence: 99%

A Novel Sensor Integration Scheme for an Aided Inertial Navigation System Based on a Generalized PID Filter in the Presence of Observation Uncertainty

Ansari,

Jamali,

Fatehi-Dindarlou

et al. 2024

IJE

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Implementing a proper integration scheme plays an important role in the performance of integrated navigation systems. Not only does employing a more reliable estimation method improve the accuracy of the integrated navigation system, but this can lead to a more robust solution in the presence of different types of uncertainties. Implementing an integration scheme that has a robust and simple structure is a challenging issue in the design of integrated navigation systems. By inspiring from the concept of PID control, this paper proposes a robust integration scheme for aided inertial navigation systems in the presence of aiding sensor measurement uncertainties. The proposed filter combines the concept of proportional-integral-derivative control theory and the standard Kalman filter estimator to improve the performance of the integration scheme. Thanks to the integral and derivative parts added to the proposed scheme, the integrated system attains a faster and more robust solution in the presence of observation errors and uncertainties. The simulation case studies validate the superior efficacy and capability of the proposed scheme compared to the integration method based on the standard Kalman filter.

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Section: Related Workmentioning

confidence: 99%

A Novel Sensor Integration Scheme for an Aided Inertial Navigation System Based on a Generalized PID Filter in the Presence of Observation Uncertainty

Ansari,

Jamali,

Fatehi-Dindarlou

et al. 2024

IJE

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show abstract

“…Within the allowable range of measurement accuracy, considering the adverse conditions such as impact, vibration and overload, the combined stiffness of the two flexible rods is reasonably selected to make the elastic moment generated by the two flexible rods small enough, so that the deflection value and scale factor have good long-term stability. Quartz flexible accelerometer has the advantages of simple structure, small volume, high precision and wide temperature range [7]. It is widely used in transportation vehicles, aerospace, mechanical characteristics detection, vehicle condition monitoring and other fields.…”

Section: Accelerometer Signal Processing Analysismentioning

confidence: 99%

“…The highest output frequency attitude rate can reach 2000kHz. A clock synchronization signal is used to synchronize with the vehicle system clock, so as to ensure that the attitude of the strapdown inertial navigation system is synchronized with the clock of the vehicle system; the data transmission time of each component of the strapdown inertial navigation system is reduced; the high-speed data access mode of FPGA dual port RAM and dual DSP is used for input and output [7], so as to solve the difficulty of high-speed real-time data receiving and sending of strapdown inertial navigation system, and improve the attitude Dynamic adaptability of state system.…”

Section: Introductionmentioning

confidence: 99%

Attitude Output of Strapdown Inertial Navigation System Based on Laser Gyro

Wang

Zhang

Yan

2020

International Journal of Circuits, Systems and Signal Processing

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Aiming at the real-time problems of signal acquisition, attitude calculation and data exchange of strapdown inertial navigation system, the data exchange between the core device of three-axis screw instrument and three-axis accelerometer sensor inertial unit (IMU) is analyzed. The RS-232 serial interface and can bus interface are adopted, which can not meet the requirements of high-speed sampling and real-time data transmission of each sensor. A new method based on FPGA dual port RAM and dual DSP is proposed Speed data access mode, through the main control CPU clock synchronization, can effectively solve the bottleneck problem of data communication between IMU attitude data and core equipment, and realize the rapid response ability of vehicle navigation system. Experiments and simulations show that the highest frequency attitude update rate of the method can reach 2000kHz, which can effectively solve the input and output data and navigation calculation ability, and improve the maneuverability of the carrier.

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“…Besides these factors, the algorithms implemented in the initial alignment stage play a significant role in the accuracy and rapidness of the alignment process. In recent years, various initial alignment algorithms have been proposed for SINS [5,6]. These methods can be divided into different categories based on the SINS's operational conditions such as stationary (static), quasistationary and in-motion conditions.…”

Section: Introductionmentioning

confidence: 99%

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

Jameian

Safarinejadian

2021

IET Radar Sonar & Navi

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This study investigates two fundamental challenges in the initial alignment of strapdown inertial navigation systems and presents creative solutions to overcome these challenges. The first challenge is to determine the settling time in different operating conditions such as stationary, quasistationary, in-motion, etc. The proposed solution to this challenge is to adjust the settling time of the initial alignment adaptively by evaluating the initial attitude matrix computed using the vector observations instead of allocating a fixed interval time for settling time. The second challenge is the existence of uncertainties in the vector observations, which adversely affect the initial alignment performance. The proposed solution to this challenge is to evaluate the quality of the vector observations used in the initial alignment by a real-time algorithm. Appropriate weights are assigned to vector observations instead of allocating a uniform weight to all vectors, depending on the vector observation's quality. The capability and performance of the proposed solutions are evaluated using different experimental scenarios such as three-axis rate table and vehicle tests. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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Robust inertial frame-based alignment of fiber-optic gyro strapdown inertial navigation systems using a generalized proportional–integral–derivative filter

Cited by 5 publications

References 25 publications

A Novel Sensor Integration Scheme for an Aided Inertial Navigation System Based on a Generalized PID Filter in the Presence of Observation Uncertainty

A Novel Sensor Integration Scheme for an Aided Inertial Navigation System Based on a Generalized PID Filter in the Presence of Observation Uncertainty

Attitude Output of Strapdown Inertial Navigation System Based on Laser Gyro

Overcoming the settling time challenge of initial alignment of strapdown inertial navigation system by a novel solution

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