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Inertial navigation system positioning assisted by star sensor | IEEE Conference Publication | IEEE Xplore

Inertial navigation system positioning assisted by star sensor


Abstract:

The Star Sensor can be used to assist the inertial navigation system (INS) for navigation and positioning, restraining the accumulated error caused by the inertial compon...Show More

Abstract:

The Star Sensor can be used to assist the inertial navigation system (INS) for navigation and positioning, restraining the accumulated error caused by the inertial components. During the integrated navigation process, the Star Sensor is installed above the INS, generated installation errors between the INS body coordinate system and the Star Sensor body coordinate system. In order to increase the system accuracy, a new gyro error model is established in this paper which taken full account of various error factors. The gyro drifts and the gyro errors coefficients are considered as the state variables. The attitude information of Star Sensor is used as the high-accurate information to construct the observation with the attitude information of INS. Taken the nonlinearity of the actual system into account, the nonlinear filter Cubature Kalman Filter (CKF) is used to estimate the gyro errors commendably. The experiment results showed that the positioning error reduced a lot by utilizing this novel method.
Date of Conference: 27-29 October 2016
Date Added to IEEE Xplore: 19 January 2017
ISBN Information:
Conference Location: Ansan, Korea (South)

I. Introduction

With the development of the modern marine technology, the navigation technology attracts more and more attentions. And the navigation accuracy determines the effect of the task to complete directly. Although the inertial navigation is a completely autonomous navigation method, it has a fatal drawback that the navigation positioning error grows over time, caused by its inertial components [1]. So the Inertial Navigation System (INS) is difficult to work long time independently. Generally speaking, there are two ways to solve this problem: the first one is to improve the precision of the inertial sensors and the other one is using the integrated navigation technology. Since the first one needs to improve the production technology of the inertial sensor significantly and will pay a high price, the second way is much more popular in modern navigation fields. The integrated navigation system can improve the navigation precision availably only using properly integrated navigation algorithm and remaining the inertial sensors unchanged [2]. On the basis of the inertial navigation device with medium accuracy and integrated with auxiliary attitude and position sensors or systems, such as the Global Position System (GPS), the Doppler Velocity Log (DVL) and so on, the INS can provide effective corrected information which is high-precision. So an integrated navigation system whose long-term stability and precision of the system are both the best is formed eventually. Various integrated navigation systems such as INS/GPS, Micro Electro Mechanical System (MEMS)/GPS and the combination of Gyro/Magnetometer system have been widely used [3]. With the emergence of integrated navigation technology, high precision navigation effect is possible though making use of the general medium accuracy of inertial navigation instrument.

References

References is not available for this document.