Design,modeling,and simulation of an INS system using an asymmetric structure of six accelerometers and its error analysis in the ECEF frame

Abstract

The inertial navigation system is one of the most important and common methods of navigation. In this system, accelerometers and gyroscopes are used to measure linear accelerations and angular velocities, respectively. Accelerometers have simpler manufacture techniques, lower cost, and smaller volume and weight in comparison with gyroscopes. Therefore, in some application of navigation systems, non-gyro inertial navigation systems based on accelerometers are used. In this paper, an asymmetric structure of six accelerometers is proposed. Then dynamic relations of this structure are extracted. This structure and its relations can determine linear accelerations and angular velocities, completely. Moreover, the algorithm of inertial navigation in earth centered earth fixed (ECEF) frame is suggested. Error analysis as of the most important issues in inertial navigation is discussed. Thus, bias, misalignment, sensitivity, and noise of accelerometers are modeled appropriately. In addition, a symmetric structure of accelerometers is proposed and its equations are derived. Finally, the designed system, error model of accelerometers, and algorithm of inertial navigation in ECEF frame are simulated. The results of simulation show that the designed system has suitable accuracy and applications for short time navigation. Furthermore, results confirm that the proposed asymmetric structure requires less accelerometer in comparison with symmetric structure.

Keywords

Inertial navigation gyroscope accelerometer bias sensitivity misalignment noise

Get full access to this article

View all access options for this article.

References

Titterton

Weston

. Strapdown inertial navigation technology, 2nd ed. United Kingdom: IET, 2004.

Jwo

D-J

Shih

J-H

Hsu

C-S

et al.

Development of a strapdown inertial navigation system simulation platform. J Marine Sci Technol 2014; 22: 381–391.

Chen

J-H

Lee

S-C

DeBra

. Gyroscope free strapdown inertial measurement unit by six linear accelerometers. J Guid Control Dynam 1994; 17: 286–290.

Wang Q, Ding M and Zhao P. A new scheme of non-gyro inertial measurement unit for estimating angular velocity. In: The 29th annual conference of the IEEE Industrial Electronics Society, 2–6 November 2003, Roanoke, USA, IEEE, 2003, pp.1564–1567.

Hung

C-Y

Fang

C-M

Lee

S-C

. A Compensator to advance gyro-free INS precision. Int J Control Automat Syst 2006; 4: 351–358.

Akeila E, Salcic Z and Swain A. Implementation, calibration and testing of GFINS models based on six-accelerometer cube. In: IEEE TENCON conference, 19–21 November 2008, University of Hyderabad Hyderabad, India, IEEE, 2008, pp.1–6.

Naseri

Homaeinezhad

. Improving measurement quality of a MEMS-based gyro-free inertial navigation system. Sensors Actuator A: Phys 2014; 207: 10–19.

Lee

S-C

Huang

Y-C

. Innovative estimation method with measurement likelihood for all-accelerometer type inertial navigation system. IEEE Transact Aerospace Electronic Syst 2002; 38: 339–346.

Zhaohui W, Xiaopeng L and Cong W. A novel design of a nine-accelerometer non-gyro inertial measurement system. In: Fourth international conference on instrumentation and measurement, computer, communication and control, Harbin, China, 18–20 September 2014, pp.151–155.

10.

Mostov

. Design of accelerometer-based gyro-free navigation system, Berkeley,CA: University of California, 2000.

11.

Grigorie

Lungu

Edu

et al.

Concepts for error modeling of miniature accelerometers used in inertial navigation systems. Ann Univ Craiova, Electric Eng Series 2010; 34: 212–219.

12.

Yan

. Design and experiment of SINS/GPS integrated navigation system. J Comput 2013; 8: 1973–1978.

13.

Van

. 15-State extended Kalman filter design for INS/GPS navigation system. J Automat Control Eng 2015; 3: 109–114.

14.

Bijker

. Development of an attitude heading reference system for an airship 2006Doctoral dissertation Stellenbosch University.