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Acoustic-inertial underwater navigation
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017In this paper, we introduce a novel acoustic-inertial navigation system (AINS) for Autonomous Underwater Vehicles (AUVs). We are aiming to reduce the cost and latency of current underwater navigation systems that typically employ high-accuracy and thus high-cost inertial sensors.
Yulin Yang, Guoquan Huang 0001
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Numerical Aspects of Inertial Navigation
IFAC Proceedings Volumes, 2013Abstract This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the ...
Milan Papez, Petr Pivonka
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An inertial navigation system for a mobile robot
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 1993A low-cost, solid-state inertial navigation system for robotics applications is described. Error models for the inertial sensors are generated and included in an extended Kalman filter (EKF) for estimating the position and orientation of a moving robot vehicle. A solid-state gyroscope and an accelerometer have been evaluated. Without error compensation,
Billur Barshan, Hugh F. Durrant-Whyte
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Cooperative Inertial Navigation
Navigation, 2014The design of suitable estimator architectures for INS aided by relative measurements and information sharing among an unrestricted community of users is discussed. Both decentralized and centralized estimators are presented. The centralized estimator is based on the Extended Kalman Filter.
Hamid Mokhtarzadeh +1 more
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Origins of inertial navigation
Journal of Guidance and Control, 1981Introduction A VIGNETTE* of the stages of development of inertial navigation at the M.I.T. Instrumentation Laboratory has been provided by the author. An earlier work provides a tutorial reference on the basic principles of the instruments and systems that were developed. Because this technology grew largely from classified programs, publication of the
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2012
An inertial navigation system is an autonomous system that provides information about position, velocity and attitude based on the measurements by inertial sensors and applying the dead reckoning (DR) principle. DR is the determination of the vehicle’s current position from knowledge of its previous position and the sensors measuring accelerations and ...
Aboelmagd Noureldin +2 more
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An inertial navigation system is an autonomous system that provides information about position, velocity and attitude based on the measurements by inertial sensors and applying the dead reckoning (DR) principle. DR is the determination of the vehicle’s current position from knowledge of its previous position and the sensors measuring accelerations and ...
Aboelmagd Noureldin +2 more
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Inertial Navigation in Relation to Animal Navigation
Journal of Navigation, 1966The remarkably successful development in recent years of inertial navigation systems suggests a reconsideration in this light of the phenomenon of animal navigation, the physiological basis of which has not been fully established. Some of the aspects of inertial navigation which may be particularly relevant to possible biological analogues are ...
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The History of Inertial Navigation
Journal of Navigation, 1977Practical inertial navigation is a quite recent achievement, only twenty-five years for serious research and development and only five for its commercial use. However, one might possibly say that a partial understanding of some of its principles is much more ancient. For example, in the Bible1 we read that God used a plumb-line to identify a particular
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IRE Transactions on Aeronautical and Navigational Electronics, 1958
Automatic navigation of aircraft may be accomplished in a number of ways. Where radiative contact with the ground is satisfactory, systems such as the conventional radio ranges and the more recently developed hyperbolic grid techniques are economical and normally reliable.
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Automatic navigation of aircraft may be accomplished in a number of ways. Where radiative contact with the ground is satisfactory, systems such as the conventional radio ranges and the more recently developed hyperbolic grid techniques are economical and normally reliable.
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An introduction to inertial navigation
American Journal of Physics, 2009In most introductory physics courses, the first equations encountered are the kinematic equations. Though the emphasis at this level tends to be on cases of constant acceleration, many real-world examples of motion are not so simple. We describe the use of inexpensive hobbyist-grade accelerometers and spreadsheet software to explore inertial navigation
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