Validation of nonlinear integrated navigation solutions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00311367" target="_blank" >RIV/68407700:21230/17:00311367 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S1367578816301316" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1367578816301316</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.arcontrol.2017.03.006" target="_blank" >10.1016/j.arcontrol.2017.03.006</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Validation of nonlinear integrated navigation solutions

Popis výsledku v původním jazyce

There exist numerous navigation solutions already implemented into various navigation systems. Depending on the vehicle in which the navigation system is used, it can be distinguished in most cases among; navigation, tactical, and commercial grade categories of such systems. The core of these systems is formed by inertial sensors, i.e. accelerometers and angular rate sensors/gyros. Navigation and tactical grade systems commonly rely on fiber optic/ring laser gyros and servo/quartz accelerometers with high resolution, sensitivity, and stability. In the case of cost-effective navigation systems, for example piloted light and ultralight aircraft, usually use commercial grade sensors, where the situation differs. The sensor outputs are less stable and sensitive, and suffer from manufacturing limits leading to temperature dependency, bias instability, and misalignment which introduces non-negligible disturbances. These conditions commonly limit the applicability of the navigation solution since its stand-alone operation using free integration of accelerations and angular rates is not stable. This paper addresses a cost-effective solution with commercial grade inertial sensors, and studies the performance of different approaches to obtain navigation solution with robustness to GNSS outages. A main goal of this paper is thus comparison of a nonlinear observer and two extended Kalman filter solutions with respect to the accuracy of estimated quantities and their sensitivity to GNSS outages. The performance analyses are carried out on real flight data and evaluated during phases of the flight when the solutions are challenged by different environmental disturbances.

Název v anglickém jazyce

Validation of nonlinear integrated navigation solutions

Popis výsledku anglicky

There exist numerous navigation solutions already implemented into various navigation systems. Depending on the vehicle in which the navigation system is used, it can be distinguished in most cases among; navigation, tactical, and commercial grade categories of such systems. The core of these systems is formed by inertial sensors, i.e. accelerometers and angular rate sensors/gyros. Navigation and tactical grade systems commonly rely on fiber optic/ring laser gyros and servo/quartz accelerometers with high resolution, sensitivity, and stability. In the case of cost-effective navigation systems, for example piloted light and ultralight aircraft, usually use commercial grade sensors, where the situation differs. The sensor outputs are less stable and sensitive, and suffer from manufacturing limits leading to temperature dependency, bias instability, and misalignment which introduces non-negligible disturbances. These conditions commonly limit the applicability of the navigation solution since its stand-alone operation using free integration of accelerations and angular rates is not stable. This paper addresses a cost-effective solution with commercial grade inertial sensors, and studies the performance of different approaches to obtain navigation solution with robustness to GNSS outages. A main goal of this paper is thus comparison of a nonlinear observer and two extended Kalman filter solutions with respect to the accuracy of estimated quantities and their sensitivity to GNSS outages. The performance analyses are carried out on real flight data and evaluated during phases of the flight when the solutions are challenged by different environmental disturbances.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

Projekt

—

Návaznosti

V - Vyzkumna aktivita podporovana z jinych verejnych zdroju

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Annual Reviews in Control

ISSN

1367-5788

e-ISSN

—

Svazek periodika

43

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

16

Strana od-do

91-106

Kód UT WoS článku

000403133700004

EID výsledku v databázi Scopus

2-s2.0-85017117876