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An inertial navigation system (INS) uses gyroscopes and accelerometers to calculate a vehicle's position, velocity and attitude by measuring its acceleration and angular motion. It operates autonomously by integrating inertial sensor readings over time, without needing external references. Modern strapdown INS mount sensors directly to the vehicle rather than on a stabilized platform, increasing complexity but reducing cost, size and weight. INS provides accurate navigation but error increases over time, requiring integration with GPS or other sensors.
An inertial navigation system (INS) uses gyroscopes and accelerometers to calculate a vehicle's position, velocity and attitude by measuring its acceleration and angular motion. It operates autonomously by integrating inertial sensor readings over time, without needing external references. Modern strapdown INS mount sensors directly to the vehicle rather than on a stabilized platform, increasing complexity but reducing cost, size and weight. INS provides accurate navigation but error increases over time, requiring integration with GPS or other sensors.
An inertial navigation system (INS) uses gyroscopes and accelerometers to calculate a vehicle's position, velocity and attitude by measuring its acceleration and angular motion. It operates autonomously by integrating inertial sensor readings over time, without needing external references. Modern strapdown INS mount sensors directly to the vehicle rather than on a stabilized platform, increasing complexity but reducing cost, size and weight. INS provides accurate navigation but error increases over time, requiring integration with GPS or other sensors.
navlgaLlon Semlnar on lnerLlal navlgaLlon sysLems 1ampere unlverslLy of 1echnology 2 1he flve baslc forms of navlgaLlon ! !"#$%&'(, whlch essenLlally relles on recognlzlng landmarks Lo know where you are. lL ls older Lhan human klnd. ! )(&* ,(-.$/"/', whlch relles on knowlng where you sLarLed from plus some form of headlng lnformaLlon and some esLlmaLe of speed. ! 0(#(1%"&# /&2"'&%"$/, uslng Llme and Lhe angles beLween local verLlcal and known celesLlal ob[ecLs (e.g., sun, moon, or sLars). ! 3&*"$ /&2"'&%"$/, whlch relles on radlo-frequency sources wlLh known locaLlons (lncludlng CnSS saLelllLes, LC8An-C, Cmega, 1acan, uS Army oslLlon LocaLlon and 8eporLlng SysLem.) ! 4/(,%"&# /&2"'&%"$/, whlch relles on knowlng your lnlLlal poslLlon, veloclLy, and aLLlLude and LhereafLer measurlng your aLLlLude raLes and acceleraLlons. 1he operaLlon of lnerLlal navlgaLlon sysLems (lnS) depends upon newLon's laws of classlcal mechanlcs. lL ls Lhe only form of navlgaLlon LhaL does noL rely on exLernal references. ! 1hese forms of navlgaLlon can be used ln comblnaLlon as well. 1he sub[ecL of our semlnar ls Lhe flfLh form of navlgaLlon - "/(,%"&# /&2"'&%"$/. 3 A few deflnlLlons ! 4/(,%"& ls Lhe properLy of bodles Lo malnLaln consLanL LranslaLlonal and roLaLlonal veloclLy, unless dlsLurbed by forces or Lorques, respecLlvely (newLon's flrsL law of moLlon). ! An "/(,%"&# ,(5(,(/-( 5,&6( ls a coordlnaLe frame ln whlch newLon's laws of moLlon are valld. lnerLlal reference frames are nelLher ,$%&%"/' nor &--(#(,&%"/'. ! 4/(,%"&# 1(/1$,1 measure ,$%&%"$/ ,&%( and &--(#(,&%"$/, boLh of whlch are vecLor- valued varlables. ! 78,$1-$9(1 are sensors for measurlng ,$%&%"$/: ,&%( '8,$1-$9(1 measure ,$%&%"$/ ,&%(, and "/%(',&%"/' '8,$1-$9(1 (also called :;$#(<&/'#( '8,$1-$9(1) measure ,$%&%"$/ &/'#(= ! >--(#(,$6(%(,1 are sensors for measurlng &--(#(,&%"$/. Powever, acceleromeLers -&//$% measure ',&2"%&%"$/&# &--(#(,&%"$/. 1haL ls, an acceleromeLer ln free fall (or ln orblL) has no deLecLable lnpuL. ! 1he "/9?% &@"1 of an lnerLlal sensor deflnes whlch vecLor componenL lL measures. A?#%"<&@"1 1(/1$,1 measure more Lhan one componenL. ! >/ "/(,%"&# 6(&1?,(6(/% ?/"% B4ACD or "/(,%"&# ,(5(,(/-( ?/"% B43CD conLalns a clusLer of sensors: &--(#(,$6(%(,1 (Lhree or more, buL usually Lhree) and '8,$1-$9(1 (Lhree or more, buL usually Lhree). 1hese sensors are rlgldly mounLed Lo a common base Lo malnLaln Lhe same relaLlve orlenLaLlon. 4 8aslc prlnclple of lnerLlal navlgaLlon ! Clven Lhe ablllLy Lo measure Lhe acceleraLlon of vehlcle lL would be posslble Lo calculaLe Lhe change ln veloclLy and poslLlon by performlng successlve maLhemaLlcal lnLegraLlons of Lhe acceleraLlon wlLh respecL Lo Llme. ! ln order Lo navlgaLe wlLh respecL Lo our lnerLlal reference frame, lL ls necessary Lo keep Lrack of Lhe dlrecLlon ln whlch Lhe acceleromeLers are polnLlng. ! 8oLaLlonal moLlon of Lhe body wlLh respecL Lo lnerLlal reference frame may be sensed uslng gyroscoplc sensors LhaL are used Lo deLermlne Lhe orlenLaLlon of Lhe acceleromeLers aL all Llmes. Clven Lhls lnformaLlon lL ls posslble Lo resolve Lhe acceleraLlons lnLo Lhe reference frame before Lhe lnLegraLlon process Lakes place. 3 WhaL does an lnS conslsL of? ! An "/(,%"&# /&2"'&%"$/ uses gyroscopes and acceleromeLers Lo malnLaln an esLlmaLe of Lhe poslLlon, veloclLy, and aLLlLude raLes of Lhe vehlcle ln or on whlch Lhe lnS ls carrled, whlch could be a land vehlcle, alrcrafL, spacecrafL, mlsslle, surface shlp, or submarlne. ! An lnS conslsLs of Lhe followlng: " >/ 4AC " 4/1%,?6(/% 1?99$,% (#(-%,$/"-1 " E&2"'&%"$/ -$69?%(,1 (one or more) calculaLe Lhe gravlLaLlonal acceleraLlon (noL measured by acceleromeLers) and doubly lnLegraLe Lhe neL acceleraLlon Lo malnLaln an esLlmaLe of Lhe poslLlon of Lhe hosL vehlcle. 6 SLablllzed laLform and SLrapdown 1echnologles ! 1here are many dlfferenL deslgns of lnS wlLh dlfferenL performance characLerlsLlcs, buL Lhey fall generally lnLo Lwo caLegorles: " glmbaled or sLablllzed plaLform Lechnlques, and " sLrapdown ! 1he orlglnal appllcaLlons of lnS Lechnology used sLable plaLform Lechnlques. ln such sysLems, Lhe lnerLlal sensors are mounLed on a sLable plaLform and mechanlcally lsolaLed from Lhe roLaLlonal moLlon of Lhe vehlcle. laLform sysLems are sLlll ln use, parLlcularly for Lhose appllcaLlons requlrlng very accuraLe esLlmaLes of navlgaLlon daLa, such as shlps and submarlnes. ! Modern sysLems have removed mosL of Lhe mechanlcal complexlLy of plaLform sysLems by havlng Lhe sensors aLLached rlgldly, or sLrapped down", Lo Lhe body of Lhe hosL vehlcle. 1he poLenLlal beneflLs of Lhls approach are lower cosL, reduced slze, and greaLer rellablllLy compared wlLh equlvalenL plaLform sysLems. 1he ma[or dlsadvanLage ls a subsLanLlal lncrease ln compuLlng complexlLy. Clmbaled lnerLlal plaLform 8 Clmbaled sysLems ! A '"6F&# ls a rlgld wlLh roLaLlon bearlngs for lsolaLlng Lhe lnslde of Lhe frame from exLernal roLaLlons abouL Lhe bearlng axes. AL leasL Lhree glmbals are requlred Lo lsolaLe a subsysLem from hosL vehlcle roLaLlons abouL Lhree axes, Lyplcally labeled ,$##G 9"%-;, and 8&: axes. ! 1he glmbals ln an lnS are mounLed lnslde one anoLher. Clmbals and Lorque servos are used Lo null ouL Lhe roLaLlon of sLable plaLform on whlch Lhe lnerLlal sensors are mounLed. Pow does glmbaled lnS work? ! 1he gyros of a Lype known as lnLegraLlng gyros" glve an ouLpuL proporLlonal Lo Lhe angle Lhrough whlch Lhey have been roLaLed ! CuLpuL of each gyro connecLed Lo a servo-moLor drlvlng Lhe approprlaLe glmbal, Lhus keeplng Lhe glmbal ln a consLanL orlenLaLlon ln lnerLlal space ! 1he gyros also conLaln elecLrlcal Lorque generaLors whlch can be used Lo creaLe a flcLlLlous lnpuL raLe Lo Lhe gyros ! AppllcaLlons of elecLrlcal lnpuL Lo Lhe gyro Lorque generaLors cause Lhe glmbal Lorque moLors/servos Lo null Lhe dlfference beLween Lhe Lrue gyro lnpuL raLe and Lhe elecLrlcally applled blas raLe. 1hls forms a convenlenL means of cancelllng ouL any drlfL errors ln Lhe gyro. Clmbaled lnS example SLrapdown lnS SLrapdown lnerLlal navlgaLlon concepL ! AcceleromeLers mounLed dlrecLly Lo alrframe (sLrapdown) and measure body" acceleraLlon ! PorlzonLal/verLlcal acceleraLlons compuLed analyLlcally uslng dlrecLlon coslne maLrlx (uCM) relaLlng body coordlnaLed and local level navlgaLlon coordlnaLes ! uCM compuLed uslng sLrapdown body mounLed gyro ouLpuLs 8LC lnsLrumenL clusLer (Marconl lln3110 sLrapdown lnS) 14 1wo-dlmenslonal navlgaLlon for sLablllzed plaLform 13 1wo-dlmenslonal navlgaLlon for sLrapdown sysLem SLrapdown lnerLlal navlgaLlon unlL block dlagram SLrapdown lnS bulldlng blocks 17 Accuracy vs. prlce 18 19 AdvanLages of lnS ! lL ls auLonomous and does noL rely on any exLernal alds or vlslblllLy condlLlons. lL can operaLe ln Lunnels or underwaLer as well as anywhere else. ! lL ls lnherenLly well sulLed for lnLegraLed navlgaLlon, guldance, and conLrol of Lhe hosL vehlcle. lLs lMu measures Lhe derlvaLlves of Lhe varlables Lo be conLrolled (e.g., poslLlon, veloclLy, and aLLlLude). ! lL ls lmmune Lo [ammlng and lnherenLly sLealLhy. lL nelLher recelvers nor emlLs deLecLable radlaLlon and requlres no exLernal anLenna LhaL mlghL be deLecLable by radar. 20 ulsadvanLages of lnS ! Mean-squared navlgaLlon errors lncrease wlLh Llme. ! CosL, lncludlng: " AcqulslLlon cosL, whlch can be an order of magnlLude (or more) hlgher Lhan CS recelvers. " CperaLlons cosL, lncludlng Lhe crew acLlons and Llme requlred for lnlLlallzlng poslLlon and aLLlLude. 1lme requlred for lnlLlallzlng lnS aLLlLude by gyrocompass allgnmenL ls measured ln mlnuLes. 11ll for CS recelvers ls measured ln seconds. " MalnLenance cosL. LlecLromechanlcal avlonlcs sysLems (e.g., lnS) Lend Lo have hlgher fallure raLes and repalr cosL Lhan purely elecLronlc avlonlcs sysLems (e.g., CS). ! Slze and welghL, whlch have been shrlnklng ! ower requlremenLs, whlch have been shrlnklng along wlLh slze and welghL buL are sLlll hlgher Lhan Lhose for CS recelvers. ! PeaL dlsslpaLlon, whlch ls proporLlonal Lo and shrlnklng wlLh power requlremenLs. 21 Synerglsm wlLh CS ! CS lnLegraLlon has noL only made lnerLlal navlgaLlon plaLform beLLer, lL made lL cosL less ! Sensor errors LhaL were unaccepLable for sLand-alone lnS operaLlon became accepLable for lnLegraLed operaLlon ! ManufacLurlng and callbraLlon cosLs for removlng Lhese errors could be ellmlnaLed ! new low-cosL MLMS sensor Lechnologles could be applled ! lnS also beneflLs CS performance by carrylng Lhe navlgaLlon soluLlon durlng loss of CS slgnals and allowlng rapld re-aqulslLlon 22 8elaLlon Lo guldance and conLrol ! E&2"'&%"$/ ls concerned wlLh deLermlnlng where you are relaLlve Lo where you wanL Lo be. ! 7?"*&/-( ls concerned wlLh geLLlng yourself Lo your desLlnaLlon. ! 0$/%,$# ls concerned wlLh sLaylng on Lrack. ! 1here has been qulLe a blL of synerglsm among Lhese dlsclpllnes, especlally ln Lhe developmenL of mlsslle Lechnologles where all Lhree could use a common seL of sensors, compuLlng resources, and englneerlng LalenL. As a consequence, Lhe hlsLory of developmenL of lnerLlal navlgaLlon Lechnology has a loL of overlap wlLh LhaL of guldance and conLrol.