Hostname: page-component-848d4c4894-2pzkn Total loading time: 0 Render date: 2024-05-20T20:58:55.451Z Has data issue: false hasContentIssue false
  • English
  • Français

Assessment of Aided-INS Performance

Published online by Cambridge University Press:  25 November 2011

Itzik Klein ,
Sagi Filin ,
Tomer Toledo  and
Ilan Rusnak
Itzik Klein*
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel) (Rafael-Advanced Defence Systems Ltd., P.O. Box 2250, Haifa 31021, Israel)
Sagi Filin
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel)
Tomer Toledo
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel)
Ilan Rusnak
Affiliation:
(Rafael-Advanced Defence Systems Ltd., P.O. Box 2250, Haifa 31021, Israel)
*
(E-mail: iklein@technion.ac.il)
Get access Rights & Permissions [Opens in a new window]

Abstract

Aided Inertial Navigation Systems (INS) systems are commonly implemented in land vehicles for a variety of applications. Several methods have been reported in the literature for evaluating aided INS performance. Yet, the INS error-state-model dependency on time and trajectory implies that no closed-form solutions exist for such evaluation. In this paper, we derive analytical solutions to evaluate the fusion performance. We show that the derived analytical solutions manage to predict the error covariance behavior of the full aided INS error model. These solutions bring insight into the effect of the various parameters involved in the fusion of the INS and an aiding sensor.

Keywords

Aided Inertial Navigation SystemsAlgebraic Riccati Equation
Type
Research Article
Information
The Journal of Navigation , Volume 65 , Issue 1 , January 2012 , pp. 169 - 185
Copyright
Copyright © The Royal Institute of Navigation 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Britting, K. R. (1971). Inertial navigation systems analysis. John Wily & Sons Inc.Google Scholar
Farrell, J. A. (2008). Aided navigation GPS with high rate sensors. McGraw-Hill, Inc.Google Scholar
Fitzgerald, R. J. (1981). Simple tracking filters: Closed-form solutions. IEEE Trans. on Aerospace and Electronic Systems, AES-17, 781–785.Google Scholar
Godha, S., Petovello, M. G. and Lachapelle, G. (2005). Performance analysis of MEMS IMU/HSGPS/magnetic sensor integrated system in urban canyons. Proceedings of IONGPS, Long Beach, CA.Google Scholar
Groves, P. D. (2008). Principles of GNSS, inertial and multisensor integrated navigation systems. Artech House.Google Scholar
Jekeli, C. (2000). Inertial Navigation Systems with Geodetic Applications. Walter de Gruyter Berlin, Germany.Google Scholar
Klein, I., Filin, S. and Toledo, T. (2010). Pseudo-measurements as aiding to INS during GPS outages. Navigation, 57, 25–34.Google Scholar
Klein, I. and Rusnak, I. (2010). Semi-Analytic Solution of ECA Filter with Position and Velocity Measurements. Proceedings of 50th Israel Annual Conference on Aerospace Sciences, Israel.Google Scholar
Lin, C. F. (1991). Modern navigation guidance and control processing. Prentice Hall series in advanced navigation, guidance and control, and their applications.Google Scholar
Microbotics website – www.microboticsinc.com (last accessed 2010).Google Scholar
Rusnak, I. (1998). Almost Analytic Representation for the Solution of the Differential Matrix Riccati Equation. IEEE Trans. on Automatic Control, AC-23, 191–193.Google Scholar
Singer, R. A. (1970). Estimating optimal tracking filter performance for manned maneuvering targets. IEEE Trans .on Aerospace and Electronic Systems, AES-6, 473–483.Google Scholar
Stephen, J. and Lachapelle, G. (2001). Development and Testing of a GPS-Augmented Multi-Sensor Vehicle Navigation System. The Journal of Navigation, 54, 297–319.CrossRefGoogle Scholar
Titterton, D. H. and Weston, J. L. (2004). Strapdown Inertial Navigation Technology (Second Edition). The American Institute of Aeronautics and Astronautics and the Institution of Electrical Engineers.CrossRefGoogle Scholar
Zarchan, P. and Musoff, H. (2005). Fundamentals of Kalman filtering: a practical approach (Second Edition). The American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.Google Scholar