A low cost inertial navigation system (INS) concept is described for flight missions characterized by moderate accelerations and limited attitude variations. These missions involve general aviation aircraft, helicopters, or remotely piloted vehicles. The significance of the moderate acceleration and limited attitude is reviewed with respect to platform mechanization and instrumentation. A hybrid mechanixation, partially gimballed and partially strapdown, is presented. The INS is implemented by an unbalanced two axis gimbal system and controlled by a two degree of freedom gyro. The INS provides locally level two axis acceleration information along with pitch and roll measurements. Heading information is provided by a second gyro mounted in the inner gimbal. The system error model is equivalent to that of a conventional platform with a tilt error determined by the integral of the gyro drift rate and an equivalent accelerometer type errors are also cancelled. Rapid gyro-compassing, implemented with opened gimbal control loops, and a strapdown procedure provides calibration of gyro drift rate biases.
Low-Cost Inertial Navigation for Moderate-G Missions
1979
61 pages
Report
No indication
English
Avionics , Navigation & Guidance System Components , Air navigation , Attitude gyros , Gimbals , Gyrocompasses , Hybrid navigation systems , Inertial navigation , Low cost , Accelerometers , General aviation aircraft , Gyroscopic pendulums , Mathematical models , Microcomputers , Position errors , Strapdown inertial guidance , Torquers
Low-cost inertial navigation for moderate-g missions
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