Navegação através de um sistema integrado GPS/INS baseado em IMU não-giroscópica / Integrated GPS/INS navigation system based on gyroscope free IMU

AUTOR(ES)
DATA DE PUBLICAÇÃO

2005

RESUMO

The present work has the objective of analyzing the performance of a low cost strapdown inertial navigation system (INS), based on a gyroscope free inertial measurement unit (IMU) that only uses multiples accelerometers and is aided by a GPS receptor data. The availability of low cost, size and weight accelerometers with medium performance and more robustness when compared to gyroscopes of the same technology is the main motivation. The inertial measurement unit is composed by an specific array of accelerometers in such way that linear and angular accelerations can be computed. Since measurements degrates rapidly with time an external source of information, the GPS receptor data, are used to bound the growing errors in navigation long range applications. The GPS/INS loosely integration approach is implemented by a Kalman filter. A model of errors for the accelerometer based IMU and INS are derived and used by the Kalman filter to estimate and compensate the navigation errors. The performance of the integrated system is assessed by using computer simulation of a simple trajectory vehicle.

ASSUNTO(S)

sistema de posicionamento global accelerometers global positioning system giroscópios inertial navigation space and tecnology engineering kalman filters unidade de medida inercial inertial measuring units engenharia e tecnologia espacial filtros de kalman navegação inercial gyroscopes acelerômetros

ACESSO AO ARTIGO

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