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http://dx.doi.org/10.11003/JPNT.2018.7.2.91

A Gyro-Free INS Algorithm in the Navigation Frame and Its Application to the Spinning Vehicle with High Rotation Rate  

Lee, Junhak (Department of Electronics Engineering, Chungnam National University)
Kim, Heyone (Department of Electronics Engineering, Chungnam National University)
Oh, Sang Heon (Navcours Co. Ltd)
Do, Jae Chul (Hanwha Co.)
Nam, Chang Woo (Hanwha Co.)
Hwang, Dong-Hwan (Department of Electronics Engineering, Chungnam National University)
Lee, Sang Jeong (Department of Electronics Engineering, Chungnam National University)
Publication Information
Journal of Positioning, Navigation, and Timing / v.7, no.2, 2018 , pp. 91-103 More about this Journal
Abstract
Conventional inertial measurement units cannot be used in the spinning vehicle with high rotation rate due to gyro's narrow operation range. By the way, angular acceleration can be measured using the accelerometer array distributed in the vehicle. This paper derives a mechanization for the gyro-free INS in the navigation frame, and proposes a gyro-free INS algorithm based on the derived mechanization. In addition, the proposed algorithm is used to estimate angular velocity, attitude, velocity, and position of a spinning vehicle with high rotation rate. A MATLAB-based software platform is configured in order to show validation of the proposed algorithm. The reference trajectory of a spinning vehicle at 3 round per second, 30 round per second are set up, and the outputs of accelerometer are generated when triads of accelerometer are located at the origin and all the axes. Navigation results of the proposed algorithm for the generated output are presented. The results show that the proposed navigation algorithm can be applied to the spinning vehicle with high rotation rate.
Keywords
gyro-free INS; mechanization; navigation frame; spinning vehicle;
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