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Design And Implementation Of A Gps Aided Inertial Navigation System For A Helicopter Uav
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Book Synopsis Design and Implementation of a GPS-aided Inertial Navigation System for a Helicopter UAV by : David R. Kastelan
Download or read book Design and Implementation of a GPS-aided Inertial Navigation System for a Helicopter UAV written by David R. Kastelan and published by . This book was released on 2009 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Aided Navigation: GPS with High Rate Sensors by : Jay A. Farrell
Download or read book Aided Navigation: GPS with High Rate Sensors written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 2008-04-03 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS
Book Synopsis Design and Implementation of an Inertial Navigation System for Real Time Flight of an Unmanned Air Vehicle by : Dimitris Eleftherios Kataras
Download or read book Design and Implementation of an Inertial Navigation System for Real Time Flight of an Unmanned Air Vehicle written by Dimitris Eleftherios Kataras and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Air Vehicles present increasing benefits to potential users, with their portability, low cost, and simplicity of operation in any battle theater. Work performed at the Naval Postgraduate School on the ARCHYTAS vehicle converges to totally unattached, autonomous flight in all regimes. Control of this inherently unstable platform is achieved by a Stability Augmentation System, designed to provide flight worthy response to pilot commands from a remote ground station. A critical part of this controller is the navigation system, which furnishes imperative data for the controlling process. This thesis examines the successful design and integration of an Inertial Navigation Sensor Suite with the already existing flight controller for the ARCHYTAS. An Inertial Measurement Unit (IMU) is selected from available systems, and the integration process is presented. The research focuses on system requirements, controller modification, IMU-controller interface procedures, and hardware configuration and installation. A radio frequency communication link that transmits data from the airborne lMU to the ground based flight controller is also developed and tested. Evaluation of the design and implementation is provided through laboratory, hardware-in-the-loop tests.
Book Synopsis Design and Implementation of an Inertial Navigation System for Real Time Flight of an Unmanned Air Vehicle by : Dimitris Eleftherios Kataras
Download or read book Design and Implementation of an Inertial Navigation System for Real Time Flight of an Unmanned Air Vehicle written by Dimitris Eleftherios Kataras and published by . This book was released on 1995 with total page 167 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Air Vehicles present increasing benefits to potential users, with their portability, low cost, and simplicity of operation in any battle theater. Work performed at the Naval Postgraduate School on the ARCHYTAS vehicle converges to totally unattached, autonomous flight in all regimes. Control of this inherently unstable platform is achieved by a Stability Augmentation System, designed to provide flight worthy response to pilot commands from a remote ground station. A critical part of this controller is the navigation system, which furnishes imperative data for the controlling process. This thesis examines the successful design and integration of an Inertial Navigation Sensor Suite with the already existing flight controller for the ARCHYTAS. An Inertial Measurement Unit (IMU) is selected from available systems, and the integration process is presented. The research focuses on system requirements, controller modification, IMU-controller interface procedures, and hardware configuration and installation. A radio frequency communication link that transmits data from the airborne lMU to the ground based flight controller is also developed and tested. Evaluation of the design and implementation is provided through laboratory, hardware-in-the-loop tests.
Book Synopsis Inertial Navigation Aided by Simultaneous Localization and Mapping by : V. Sazdovski
Download or read book Inertial Navigation Aided by Simultaneous Localization and Mapping written by V. Sazdovski and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles technologies are getting smaller and cheaper to use and the challenges of payload limitation in unmanned aerial vehicles are being overcome. Integrated navigation system design requires selection of set of sensors and computation power that provides reliable and accurate navigation parameters (position, velocity and attitude) with high update rates and bandwidth in small and cost effective manner. Many of today's operational unmanned aerial vehicles navigation systems rely on inertial sensors as a primary measurement source. Inertial Navigation alone however suffers from slow divergence with time. This divergence is often compensated for by employing some additional source of navigation information external to Inertial Navigation. From the 1990's to the present day Global Positioning System has been the dominant navigation aid for Inertial Navigation. In a number of scenarios, Global Positioning System measurements may be completely unavailable or they simply may not be precise (or reliable) enough to be used to adequately update the Inertial Navigation hence alternative methods have seen great attention. Aiding Inertial Navigation with vision sensors has been the favoured solution over the past several years. Inertial and vision sensors with their complementary characteristics have the potential to answer the requirements for reliable and accurate navigation parameters. In this thesis we address Inertial Navigation position divergence. The information for updating the position comes from combination of vision and motion. When using such a combination many of the difficulties of the vision sensors (relative depth, geometry and size of objects, image blur and etc.) can be circumvented. Motion grants the vision sensors with many cues that can help better to acquire information about the environment, for instance creating a precise map of the environment and localize within the environment. We propose changes to the Simultaneous Localization and Mapping augmented state vector in order to take repeated measurements of the map point. We show that these repeated measurements with certain manoeuvres (motion) around or by the map point are crucial for constraining the Inertial Navigation position divergence (bounded estimation error) while manoeuvring in vicinity of the map point. This eliminates some of the uncertainty of the map point estimates i.e. it reduces the covariance of the map points estimates. This concept brings different parameterization (feature initialisation) of the map points in Simultaneous Localization and Mapping and we refer to it as concept of aiding Inertial Navigation by Simultaneous Localization and Mapping. We show that making such an integrated navigation system requires coordination with the guidance and control measurements and the vehicle task itself for performing the required vehicle manoeuvres (motion) and achieving better navigation accuracy. This fact brings new challenges to the practical design of these modern jam proof Global Positioning System free autonomous navigation systems. Further to the concept of aiding Inertial Navigation by Simultaneous Localization and Mapping we have investigated how a bearing only sensor such as single camera can be used for aiding Inertial Navigation. The results of the concept of Inertial Navigation aided by Simultaneous Localization and Mapping were used. New parameterization of the map point in Bearing Only Simultaneous Localization and Mapping is proposed. Because of the number of significant problems that appear when implementing the Extended Kalman Filter in Inertial Navigation aided by Bearing Only Simultaneous Localization and Mapping other algorithms such as Iterated Extended Kalman Filter, Unscented Kalman Filter and Particle Filters were implemented. From the results obtained, the conclusion can be drawn that the nonlinear filters should be the choice of estimators for this application.
Book Synopsis The Global Positioning System & Inertial Navigation by : Jay A. Farrell
Download or read book The Global Positioning System & Inertial Navigation written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 1999-01-21 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: With GPS and INS hardware becoming ever smaller and less expensive, innovative opportunities for commercial navigation systems are everywhereÑand continue to arise. Integrated GPS/INS systems have some real advantages, in terms of output rate, reliability, and accuracy. The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. This in-depth text provides navigation system designers comprehensive and accurate coverage of such topics as coordinate frames and transformations, Kalman filtering techniques, navigation system performance analysis, GPS receiver ephemeris and pseudo-range processing, differential GPS, carrier phase processing, and attitude determination. Extensively cross-referenced to the literature on advanced navigation system design, this superb engineering reference is ideal for navigation systems designers, analysts, and project managers.
Book Synopsis Vision-aided Inertial Navigation System Design for Indoor Quadrotors by : Lianfeng Hou
Download or read book Vision-aided Inertial Navigation System Design for Indoor Quadrotors written by Lianfeng Hou and published by . This book was released on 2015 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: The navigation task for unmanned aerial vehicles (UAVs), such as quadrotors, in an indoor environment becomes challenging as the global positioning system (GPS) and the magnetometer may provide inaccurate aiding measurements and the signals may get jammed. The navigation system design in this thesis integrates a visual navigation block with a inertial navigation system block, which adds information about aiding measurements information for indoor navigation design. The direct visual measurements are feature coordinates that are obtained from images taken from an onboard monocular camera with different positions in the 3D world space. The scaled relative pose measurements are generated through vision algorithm implementations presented in this thesis. The vehicle states are estimated using the extended Kalman filter (EKF) with inputs from a gyroscope and accelerometer. The EKF sensor fusion process combines inertial measurements and the visual aid- ing measurement to get an optimal estimation. This thesis provides two design results: one navigation system assumes that the 3D world feature coordinates are known and that the navigation system is map-based for the feature ex- traction. The other navigation system does not require prior knowledge of the feature location and captures the feature based on map-less vision algorithms with geometry constraints.
Book Synopsis Design of a GPS Aided Guidance, Navigation, and Control System for Trajectory Control of an Air Vehicle by : Eric N. Hallberg
Download or read book Design of a GPS Aided Guidance, Navigation, and Control System for Trajectory Control of an Air Vehicle written by Eric N. Hallberg and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advent of GPS has afforded the aerospace controls engineer a powerful, new means of controlling air vehicles This work explores a new method of designing and implementing controllers and guidance systems for autonomous control of air vehicles utilizing a GPS integrated guidance, navigation and control system. This is a subject of considerable interest when realizing controllers to track reference trajectories given in an inertial reference frame. The design, implementation, and dynamic simulation of a precise tracking trajectory controller for an Unmanned Air Vehicle (UAV) is presented. This design provides a natural conversion of commands and other measured outputs (such as GPS signals) from an inertial reference frame to a body-fixed reference frame. This achieves automatic recruiting of the actuators while preserving the properties of the original design (linearization principle). Trajectory control, GNC, Linear Quadratic regulator, LQR, Kalman filter, Nonlinear simulation, D- Implementation, Bluebird.
Book Synopsis Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration by : Aboelmagd Noureldin
Download or read book Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-26 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.
Book Synopsis Real-time Implementation of GPS Aided Low Cost Strapdown Inertial Navigation System by : Laith Rasmi Sahawneh
Download or read book Real-time Implementation of GPS Aided Low Cost Strapdown Inertial Navigation System written by Laith Rasmi Sahawneh and published by . This book was released on 2009 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This thesis describes the theoretical development and practical implementation in real-time of strapdown inertial navigation system (INS) using commerical of [sic] the shelf inertial measurement unit (IMU) aided with the Global Positioning System (GPS)."--Abstract, p. iii.
Book Synopsis Introduction To Modern Navigation Systems by : Esmat Bekir
Download or read book Introduction To Modern Navigation Systems written by Esmat Bekir and published by World Scientific. This book was released on 2007-07-26 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: The emerging technology of very inexpensive inertial sensors is available for navigation as never before. The book lays the analytical foundation for understanding and implementing the navigation equations. It starts by demystifying the central theme of the frame rotation using such algorithms as the quaternions, the rotation vector and the Euler angles. After developing navigation equations, the book introduces the computational issues and discusses the physical aspects that are tied to implementing these equations. The book then explains alignment techniques.Introduction to Modern Navigation Systems offers an efficient algorithm for polar navigation. It also shows how to enhance the performance of the inertial system when aided by the Global Positioning System. It is an appropriate textbook for senior undergraduate and graduate students in aeronautical and electrical engineering. It could also be used as a reference book for practitioners in the field.
Book Synopsis Inertial Navigation Systems with Geodetic Applications by : Christopher Jekeli
Download or read book Inertial Navigation Systems with Geodetic Applications written by Christopher Jekeli and published by Walter de Gruyter GmbH & Co KG. This book was released on 2023-07-24 with total page 467 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.
Book Synopsis Ames-aided Inertial Navigation Work - The First Two Years of Progress by :
Download or read book Ames-aided Inertial Navigation Work - The First Two Years of Progress written by and published by . This book was released on 1973 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Integrated Navigation and Guidance Systems by : Daniel J. Biezad
Download or read book Integrated Navigation and Guidance Systems written by Daniel J. Biezad and published by AIAA. This book was released on 1999 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Beginning with the basic principles of navigation, "Integrated Navigation and Guidance Systems takes a step beyond introductions with a concise look at the flight applications of inertial navigation systems integrated with Global Positioning System (GPS) satellite systems. Written at the senior engineering college level, the textbook takes a tutorial approach, weaving interrelated disciplines together with interactive computer exercises and AINSBOOK software for error analysis and Kalman filter simulation. Get a "technical jump start" with a look at traditional navigation radio aids, inertial guidance systems, and Kalman filters. Launch into GPS applications to navigation, precision approach and landing, attitude control, and air traffic control. More than 100 figures, photos, and tables add to the textbook's value.
Book Synopsis Inertial Guidance by : Charles Stark Draper
Download or read book Inertial Guidance written by Charles Stark Draper and published by . This book was released on 2012-06-01 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: International Series On Aeronautical Sciences And Space Flight, Division 7, Astronautics, Volume 3.
Book Synopsis Avionics Navigation Systems by : Myron Kayton
Download or read book Avionics Navigation Systems written by Myron Kayton and published by John Wiley & Sons. This book was released on 1997-05-06 with total page 806 pages. Available in PDF, EPUB and Kindle. Book excerpt: Eine konsistente Behandlung der Technologie moderner Navigationssysteme - für den Entwicklungsingenieur ebenso wie für den Betreiber existierender Anlagen. Der Autor, ein erfahrener Praktiker, geht in dieser zweiten, aktualisierten Auflage auch auf neueste Entwicklungen in Theorie, Hard- und Software ein, wie sie beispielsweise in Satellitensystemen, elektronischen Fahrzeugsteuerungen und Landesystemen Anwendung finden.
Book Synopsis Incorporation of a Differential Positioning System (DGPS) in the Control of an Unmanned Aerial Vehicle (UAV) for Precise Navigation in the Local Tangent Plane (LTP) by : Peyton Allen
Download or read book Incorporation of a Differential Positioning System (DGPS) in the Control of an Unmanned Aerial Vehicle (UAV) for Precise Navigation in the Local Tangent Plane (LTP) written by Peyton Allen and published by . This book was released on 1997-03-01 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is to incorporate the Global Positioning System (UPS) and Inertial Navigation System (INS), for the guidance of an unmanned aerial vehicle (UAV) seeking precise navigation in a Local Tangent Plane (LTP). By applying the Differential Positioning technique, UPS position data becomes more accurate. This position can then be referenced to a known location on the ground in order to give the aircraft's position in the Local Tangent Plane. The FOG-R UAV at the Naval Postgraduate School will be used for autonomous flight testing using a Texas Instruments TMS320C30 Digital Signal Processor (DSP). This DSP is hosted on an IBM compatible PC, and is controlled via Integrated System's AC100 control system design and implementation software package. The UPS receiver used throughout this thesis is a Motorola PVT-6 OEM. Another identical UPS receiver is used as a reference station, thus providing the Differential capability. The objectives of this thesis are: the system must be able to accept current location from the UPS and convert it to LTP, display the LTP coordinates, numerically and graphically, and be able to easily change the origin coordinates. Finally, the achieved accuracy of the differential setup is examined.
