Edwan, Ezzaldeen: Novel approaches for improved performance of inertial sensors and integrated navigation systems. 2013
Inhalt
- Abstract
- Kurzfassung
- Table of Contents
- List of Figures
- List of Tables
- Acknowledgements
- List of Abbreviations
- List of Symbols
- 1 Introduction
- 1.1 Subject of Research
- 1.2 Main Contributions of this Dissertation
- 1.3 The Structure of this Dissertation
- 2 Inertial Navigation Sensors and Error Modeling
- 2.1 Specifications and Grades of the IMUs
- 2.2 Reference Frames
- 2.3 Inertial Sensors
- 2.4 Inertial Sensor Error Modeling
- 2.5 Summary
- 3 Angular Motion Estimation Using Distributed Configurations of Fixed Accelerometers
- 3.1 Literature Survey of Inferring Angular Motion from Accelerometers
- 3.2 Distributed Accelerometer Triad Definition
- 3.3 The Configuration of Multiple Distributed Accelerometer Triads
- 3.4 GF-IMU Error Calibration
- 3.5 AME Based on Three-State Model EKF
- 3.6 Three-State Model Simulation Results
- 3.7 Three-State Model Experimental Results
- 3.8 Summary
- 4 Aiding Fixed Distributed Accelerometers by Rotating Accelerometers and Conventional Gyros
- 4.1 Motivation for Aid
- 4.2 Rotating Accelerometers and Conventional Gyros Aid
- 4.3 Configuration of Fixed and Rotating Accelerometers
- 4.4 Static Scenario Special Case (North-Finding System)
- 4.5 Experimental Results
- 4.6 Gyro Aided GF-IMU Using Three-state EKF Model
- 4.7 Simulation Results
- 4.8 Robustness of the Direct EKF
- 4.9 Summary
- 5 Angular Motion Estimation Utilizing Dynamic Models and Constrained Kalman Filtering
- 5.1 AME Using Dynamic Models in a GF-IMU
- 5.2 Dynamic Models to Be Considered
- 5.3 Sensor Error Model and the Measured AIV and Calibration
- 5.4 An EKF Solution Using Singer Model with Appending Bias Parameters
- 5.5 An EKF Solution Using Singer Model without Appended Bias Parameters
- 5.6 Observability Analysis
- 5.7 Simulation Results for the Augmented Model
- 5.8 Simulation Results for Non-Augmented Model
- 5.9 Constraints Derivation
- 5.10 Constrained EKF
- 5.11 EKF Constrained Model Simulation Results and Analysis
- 5.12 Summary
- 6 DCM Based Attitude Estimation
- 6.1 Attitude Estimation Using Inertial Sensors
- 6.2 Literature Survey of Common Attitude Representation Methods
- 6.3 Attitude Update Using Rotation Angle Vector
- 6.4 DCM Based Attitude Estimation Algorithm
- 6.5 Experimental Results and Evaluation of the Performance
- 6.6 Summary
- 7 DCM Based GPS/INS Integration
- 7.1 Literature Survey for DCM Based Integrated Navigation
- 7.2 The Strapdown Mechanization and DCM Based Filter Formulation
- 7.3 Total State Euler Angles Based UKF
- 7.4 Simulation Result of Air Vehicle
- 7.5 Experimental Results Using Car Collected Data
- 7.6 Special Forms of DCM Based GPS/INS Integration
- 7.7 Summary
- 8 Conclusion
- Appendix A: Derivatives of Matrices and Vectors
- Appendix B: Special Matrices
- References