Inertial Navigation & guidance system

For Grad & Post grad Avionics students Part One

Inertial navigation is a self-contained navigation technique in which measurements provided by accelerometers and gyroscopes are used to track the position and orientation of an object relative to a known starting point, orientation and velocity. Inertial measurement units (IMUs) typically contain three orthogonal rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration respectively. By processing signals from these devices it is possible to track the position and orientation

Inertial sensors measure rotation rate and acceleration both are vectors. Gyroscopes are sensors for measuring rotation: rate gyroscopes measure rotation rate, and integrating gyroscopes measure rotation angles (also called wholeangle gyroscopes) Accelerometers are sensors for measuring acceleration. However, accelerometers Cannot measure gravitational acceleration. That is, an accelerometer in free fall (in orbit) has no detectable input. = + dw/dt X R + 2wXdR/dt + wx(wxR)= A + g

Acce.

integrati on

integrati on

gravity

Assume the acceleration frame origin at center of earth so that g = - GM / R ^2 with components as gx = - GM/R^2 . x/R where R = sqrt ( X^2+ Y^2+z^2) and the mechanisation I INS could be as shown : Case 2 . Flight is short range near earth surface . We have Z axis which is vertical and center is at the center of flight plane. In such case we can approx g as : g x = GM x/ [ ( Ro+z)^2 + x^2 + y ^2] ^ 3/2 ~= g0/R0 x d2x/dt2+ g0/R0 x = Ax Taking constant acceleration zero initial condition x/R0 = Ax/g0[ 1- cos sqrt go/Ro .t T = 1/2pi sqrt r0/g0 ` = 84 mins Schuler period

Stable Platforms

Strapdown System

A gimbal is a rigid with rotation bearings for isolating the inside of th e frame from external rotations about the bearing axes. At least thre e gimbals are required to isolate a subsystem from host vehicle rotations about three axes, typically labeled roll, pitch, a nd yaw axes.
In external gimbal system instruments are mount is surrounded by a series of gimbal rings . Inner most pivoted to instrument along one axis and t to the next ring at right angles to the first axis. The second ring is pivoted to third ring along an axis perpendicular to both axes on the first ring. Sometimes 4 rings rae used coincident with second and pivoted to body. 4 gimbal provides Isolation of disturbing torques Unlimited angular motion Gimbal Lock solution

Gimbal system : External and Internal

Stable Platform Systems In stable platform type systems the inertial sensors are mounted on a platform which is isolated from any external rotational motion. In other words the platform is held in alignment with the global frame. This is achieved by mounting the platform using gimbals (frames) which allow the platform freedom in all three axes,The platform mounted gyroscopes detect any platform rotations.These signals are fed back to torque motors which rotate the gimbals in order to cancel out such rotations,

A = - (r) dR/dt = V+ xR

A = ( dV/dt ) + ( w+) xV- g ( R)

In practice dv/dt = du/dt + dv/dt j + dw/dt k and w x V = also angular rates

d/dt = ( Q sin + R cos ) / cos

Mechanisation INS

Tangent Plane : Gyros are torqued at fixed earth rate to a fixed point known as Base Point . Platform always remains parallel to base point and rotate with earth . Adv :a. Torque : Constant rate . No need to generate variable rates. b. Earth rates can be supplied accurately DisAdv a. It is not a local level system . Attitude information is not directly available. Problem in Integration with other systems. Maps are required in Grid systems Latitude & Longitude Adv : Natural output. Bearing can be found out easily. Local level hence vertical attitude could be read out easily . Dis : Latitude near 90 deg then Vy becomes indeterminate ( near Polar area) Wander azimuth ( free Azimuth )It is locally level but rotated by an angle ( wander angle) About azimuth in relation to co ordinate axis.

steering Atmospheric steering of the rocket vehicle is basically open loop i.e. V g is not used for control of flight path instead attitude is used to maneuver the veh as close as possible to Nominal trajectory without causing excessive structural loading. This is done by KICK turn that is the thrust vector is along the velocity vector and keeps flying in this mode. This is known as Pitch program or Gravity turn.

Velocity cross product steering Vg X dvg/dt Vg = Vr - V

Errors in system and sensors

Platform errors a. Friction b. Mass Unbalance c. Non Orthogonality of gimbals d. Inter axis coupling e. Random Drift f. G sensitive drift Sensor error a. b. c. d. Gyro drift Bias Uncertainty Scale factor linearity Cross coupling of accelerations

Inertial sensor Errors

Accelerometers Errors

STRAP DOWN INS

Attitude Determination IN N E D axis System

Strapdown Systems In strapdown systems the inertial sensors are mounted rigidly onto the device, and therefore output quantities measured in the body frame rather than the global frame. To keep track of orientation the signals from the rate gyroscopes are integrated, To track position the three accelerometer signals are resolved into global coordinates using the known orientation, as determined by the integration of the gyro signals. The global acceleration signals are then integrated as in the stable platform algorithm.

Strapdown stable platform in NED axis system

Strap Down INS Mechanisation in Local vertical frame / Wander Azimuth

Strapdown INS

Strap Down System Mechanization

The Coriolis-effect. Assume a mass that is vibrating in the radial direction of a rotating system. Due to the Coriolis force working perpendicular to the original vibrating direction, a new vibration will take place in this direction. The amplitude of this new vibration is a function of the angular velocity. MEMS gyros (MicroElectroMechanical Systems), tuning fork and wineglass gyros are utilizing this principle. Coriolis-based gyros are typically cheaper and less accurate than mechanical, ring laser or fiber optic gyros.

The Sagnac-effect.

The inertial characteristics of light can also be utilized, by letting two beams of light travel in a loop in opposite directions. If the loop rotates clockwise, the clockwise beam must travel a longer distance before finishing the loop. The opposite is true for the counter-clockwise beam. Combining the two rays in a detector, an interference pattern is formed, which will depend on the angular velocity.

Laser Gyroscope

Path length CW = ( 2 R + R d/dt . T ) Path length for CCW = ( 2 R - R d/dt . T ) T = ( 2 R + R d/dt .T ) / C - (( 2 R - R d/dt . T)/C = 4 R ^2/ C^2 d/dt ==== proportional to rate of change of d/dt

A = pi R ^2 N ( N no of turns of FO cable) Phase shift = w . T

L = 4A/C^2 d/dt = 4 A/C d/dt Where is A is area enclosed

Laser Gyro
Sagnac effect is very low for low rate of rotation. For better accuracy we measure the fringe phase shift. Also L / L = f / f or f = 4A f /CL d/dt f = K d/dt where k = 4A/L Integrate it we .get integrating Gyroscope Lock in Problem Frequency lock in at low angular rates caused due to imperfection in cavities . Dither the laser block about the input axis .typical dither frequency is about 100Hz Aim is to minimize the dwell time in lock on zone . Example : Traingle of side length = 7.329 cms and height 6.2687 cms laser at wave length = 0.6328 micrometers then freq change = 0.32 hz ( angle change over a period ) taking = 1deg /hr

High accuracy The RLG meets the dynamic range for a pure IN system of being able to measure angular rates from 0.01/hour to 400/s to the required accuracy a dynamic range of 108:1. Insensitivity to acceleration The RLG has no acceleration sensitive bias errors, as it is based on optical effects rather than inertial effects. Very high rate range This is limited only by the noise/bandwidth characteristics of the read out electronics: 1,000/s is no problem. Very high scale factor accuracy Errors are in the 5to10ppm bracket. Negligible warm up time Full gyro operation from the instant of turn-on. Excellent turn-on to turn-on performance Performance capabilities can be maintained over several years without calibration. Random noise uncertainty This is measured in degrees per hour, and is one of the RLGs most important error characteristics. The error is signicantly higher than experienced with angular momentum gyros. It affects the system heading determination in the gyro compassing phase during the initial alignment process. This is because it extends the time required to lter the Earths rate signal from the gyro noise in order to determine the initial heading. Very high reliability : 50 .000 Hrs to 100000 hrs MTBF. Small volume ( 20 cms)

Msp/ts

Attitude Determination

Using Quaternions dX/dt = A X X ( n+1) = X n + dxn. dt

TERCOM ( Terrain Contour Matching )

Terrain Maps ( differ in size , length and width ) * Land fill * en route * Mid course * Terminal Data Samples
Long samples short Matrix short sample Long Matrix Algorithms MAD ( Mean Absolute Difference) Normalized MAD Probability of False fix increases as Uniqueness in the ref terrain matrix decreases

problems

A satellite is launched in orbit where its launch vehicle burns out at an altitude of 250 kms. At burn out , the satellite velocity is 7900m /sec with zenith angle 89 deg. Calculate the satellite altitude at perigee and apogee ? A satellite in an orbit with semi major axis of 7500kms and eccentricity 0.1. Calculate the time it takes to move from a position 30 past perigee to 90 past perigee ? Earth radius = 6400 Kms and g = 9.81 m/sec2 ? A radar tracking station ,tracks a decaying satellite as e = 0.1 and perigee altitude 200 kms. Determine its altitude at perigee and specific angular momentum? 4. A missile co ordinates at burn out are 30 N 60 e . Re enrty is planned fro 30 s 60 w. Burn out velocity and altitude are 1.0817 DU/Tu and 0.025 DU. What must be the flight path angle at burn out ?

TERRAIN

Contour Signature

RADAR Altimeter
Pressure Alt

Matrix prep M xN cells of dxd size Data Co rrelation

Processing

Long Sample short Matrix Down track error

Cross track Elevation file is long enough to accommodate Down track err Sampling begins prior to arriving at the FIX

Short Sample Long Matrix

DT

CT Sampling begins after reaching the FIX

1 ( 1

( di d)^2)

di=|hi h i+1| Dav= 1/n-1 sum di

Rocket vehicle control Interaction ;

Yaw axis = Td1 sin S^2 = u c