2019 DGON Inertial Sensors and Systems (ISS)最新文献

{"title":"Frequency tuning of fused silica cylindrical resonators by chemical etching","authors":"Y. Tao, Y. Pan, Y. Jia, J. Liu, Z. Tan, K. Yang, H. Luo","doi":"10.1109/iss46986.2019.8943661","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943661","url":null,"abstract":"The cylindrical resonator gyroscope (CRG) has been attracting more and more attention in recent years for its comprehensive advantages; which are its low cost, small size and high performance. These benefits make the CRG a good choice for tactical grade applications. A balanced resonator is a prerequisite for high-performance CRGs. Aiming at mass production, we seek balancing technology that is both simple and inexpensive for cylindrical fused silica resonators. Inspired by the chemical trimming procedure proposed by M. A. Basarab, we have been investigating the frequency tuning of fused silica cylindrical resonators by chemical etching. In this paper, we present the theoretical derivation, simulation and experimental results on the frequency tuning of fused silica cylindrical resonators by chemical etching. The thickness of the cylindrical resonator has been taken into consideration in theoretical derivation, which provides a more accurate description of the chemical trimming process. The relationship between the chemical trimming parameters and the fourth harmonic error of mass distribution of the cylindrical resonator was derived. The trimming efficiency, trimming rate, the frequency split to be reduced and the operability of the experimental system were considered during the determination of chemical trimming parameters. Simulations on the chemical trimming coefficient (CTC)- meaning the frequency reduced per unit mass-of our resonator show a difference of only 5.6% with theoretical calculation. A series of experiments were carried out on a fused silica cylindrical resonator with an initial frequency split of 1.221Hz and a decay time of 61s. Two sets of chemical etching parameters were designed based on theoretical and simulation results. Three rounds of etching were performed using the first set of parameters, and two rounds of etching were performed using the second set. The frequency split was reduced to 0.061Hz and the decay time was increased to 123s. Experimental results were also in agreement with theoretical calculation, with a CTC difference of 16.4%. Our work demonstrated that frequency tuning by chemical etching is controllable and repeatable, and is suitable for medium-accuracy trimming of cylindrical resonators made from fused silica.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117279473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Observability Analysis of a Miniature Inertial Measurement Unit on a Continuous Rotating Base","authors":"Haifeng Xing, Zhiyong Chen, Xinxi Zhang, Meifeng Guo","doi":"10.1109/iss46986.2019.8943758","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943758","url":null,"abstract":"Continuous rotation (“carouseling”) can effectively suppress the influence of inertial sensor errors so that miniature inertial measurement units (MIMUs) can achieve north-seeking applications, which has been recently studied. However, there is a lack of observability analyses for MIMUs. Whether the state is observable or not is closely related to whether Kalman filtering can accurately estimate the error state. In this paper, the observability of MIMUs on a continuously rotating base is analyzed on the basis of simulation and collected real data. The results show that MIMUs cannot realize self-alignment because of their large heading errors in the static state. Kalman filtering can estimate the heading angle effectively in a short time by rotating continuously around the z-axis, and it can estimate the z-axis accelerometer bias quickly, as well as the z-axis gyro drift after a period of time. However, it is impossible to estimate the gyro drift and accelerometer bias in the horizontal plane because the horizontal modulated inertial sensor errors that are integrated over time will suppress the effect of errors. Additionally, the horizontal errors can be solved by the north-seeking algorithm. This study provides a method and a theoretical basis for analyzing the observability of MIMUs and evaluating their performance.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121296221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"ISS 2019 Authors Index","authors":"","doi":"10.1109/iss46986.2019.8943664","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943664","url":null,"abstract":"","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126572699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Millimeter-level calibration of IMU size effect and its compensation in navigation grade systems","authors":"A. Kozlov, F. Kapralov","doi":"10.1109/iss46986.2019.8943630","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943630","url":null,"abstract":"We present a simple method of millimeter-level calibration of inertial measurement unit (IMU) size effect, which proved to be tolerant to most common instrumental errors, including the residual calibration errors of the IMU, and does not require special processing apart from recording standard navigation solution in a special rotations on a turntable. Using the calibration results, we demonstrate the effect of their compensation in an inertial system of navigation grade. Control experiments show that navigation error drops one order of magnitude in certain types of motion as compared to the compensation using IMU design documentation instead of the suggested calibration results.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"16 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131687732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"SkyNaute by Safran – How the HRG technological breakthrough benefits to a disruptive IRS (Inertial Reference System) for commercial aircraft","authors":"F. Delhaye, Ch. De Leprevier","doi":"10.1109/iss46986.2019.8943759","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943759","url":null,"abstract":"Safran is a world leader in inertial equipment for commercial avionics; APIRS, its FOG AHRS is a best seller in helicopter and turboprop aircrafts avionics, most of Electronics Stand-by Instruments make use of Safran inertial sensors, not to speak about its sensors used in critical fly by wire systems. Such products are, of course, certified by EASA at the highest critical level (DO178B level A for software and DO-254 level A for electronic hardware).Safran is also the European leader in military high grade Inertial Navigation Systems and supply its products to Air, Land, Space and Naval applications. Even if some of these products, when used on military transport aircrafts, are also certified by EASA according to civilian standard for use in non-segregated airspace, Safran is not yet a supplier of IRS for commercial aircraft.Thanks to its technical and industrial expertise in navigation, and thanks to its foot print in aerospace business and especially the civil market, Safran knew that challenging the quasi-monopolistic position of the leader could not be successfully achieved without a disruptive approach.This paper explains how HRG, a technical breakthrough compared to legacy Sagnac Effect based gyros (RLG and FOG), enables the design of SkyNaute, the smallest, lightest, and lowest power consumption IRS in the industry.Finally, the best SWAP and the most cost-effective IRS in the industry would be of poor help if such IRS would not be able to also offer a demonstrated maturity at Entry Into Service. This paper explains on the basis of simple examples the Safran methodology to achieve the suitable maturity level of its SkyNaute.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126269442","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Special Thermal Compensation Experiment and Algorithm Design for Inertial Navigation System","authors":"Chao Zhuo, Jianbang Du, Haihong Tang, Qingqing Liu","doi":"10.1109/iss46986.2019.8943667","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943667","url":null,"abstract":"The inertial sensors in the inertial navigation system (INS) are susceptible to the ambient thermal field and these temperature-induced errors can be the principal factor that decreases the applied precision of the system. Software compensation is an effective method which can predict and eliminate the thermal errors directly from the sensor outputs. But it is a technical challenge to compensate the errors at high accuracy as well as make it adaptable to the complicated time-varying thermal environment. To overcome this, excellent temperature experiment and algorithm design are both indispensable and equally important.Among all the thermal errors, gyro bias drift tends to be the key problem due to its divergent influence on position error and nonlinear characteristic with temperature. To tackle this, two kinds of thermal experiments are specially designed to fully stimulate the drift behavior under different temperature conditions. One is called the constant gradient changing experiment, which inversely uses the thermal chamber-gyro transfer function to control the gyro temperature to change at the constant rate and is to reinforce the effect of temperature derivative in the experiment dataset. The other is called the thermal phase plane covering experiment, which contains a special temperature profile to manipulate the bias error to “walk around” the “thermal phase plane”. When the two experiments are put together, it demonstrates an obvious effect in enhancing the compensation’s adaptability. In the modeling process, a nonlinear estimation algorithm is applied to precisely identify the bias error model. It is able to determine the weight of each kind of thermal factor and their influence mode on the total error in different temperature situations. For the accelerometer, we focus on all-parameter modeling, including the scale factor and bias of the I/F converter, and the scale factor, bias and misalignments of the accelerometer sensors. A system-level error model is deduced to separate the coupling of the I/F converter and accelerometer sensors. And thermal error terms of the accelerometer sensors are estimated and modeled by the continuous temperature calibration. Verification experiments on the INS with fiber-optic gyroscopes and quartz pendulous accelerometers show that the thermal environmental adaptability and navigation performance can be effectively improved.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116525982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Influence of elasticity modulus on the natural frequency in hemispherical resonator","authors":"Z. Xu, G. Yi, H. Fang, Y. Cao, L. Hu, G. Zhang","doi":"10.1109/iss46986.2019.8943606","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943606","url":null,"abstract":"For any Coriolis vibratory gyroscopes, symmetrically perfect resonator is their core component. In order to analyze the influence of non-uniform elasticity modulus on the natural frequency in resonator, the finite element model of hemispherical resonator is established by using finite element analysis software (ANSYS). The second-order natural frequency of ideal resonator and resonator with elastic modulus non-uniform is analyzed. The relationship between elasticity modulus and natural frequency is established. The first fourth harmonics of elasticity modulus along the circumferential direction in resonator are mainly investigated that dominates mainly the amplitude of uneven elasticity modulus. The influence of the first fourth harmonic of non-uniform elastic modulus on the natural frequency is deeply analyzed, which will cause the natural frequency difference. The influence of the first four harmonics on the frequency difference is almost the same, which will bring approximately equal frequency difference. In order to reduce the influence of elasticity modulus non-uniform on the precision and performance of the HRG, the relative values of first fourth harmonics of elasticity modulus should be less than 1×10−7, which provides a theoretical basis for the manufacturing design and error analysis of resonator.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133588006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Technology of SINS/USBL highly tightly coupled integrated navigation based on phase difference measurements","authors":"Y. Y. Zhu, T. Zhang, B. Jin, X. Xu","doi":"10.1109/iss46986.2019.8943753","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943753","url":null,"abstract":"Aiming at the poor accuracy of traditional SINS/USBL combined positioning method, this paper designs a new SINS/USBL highly tightly coupled integrated navigation algorithm based on phase difference measurements. Firstly, a SINS/USBL combined positioning structure based on double transponders is designed. By analyzing the error factors affecting the positioning accuracy of ultra-short baseline system, this paper establishes observation equation with the phase and slant range between the transponder and the hydrophone. This method can effectively eliminate the common errors in the USBL positioning system and improve the positioning performance of SINS/USBL integrated navigation system. In order to verify the effectiveness of the proposed algorithm, a simulation experiment for SINS/USBL integrated navigation system is carried out. The simulation results show that this method can effectively improve the positioning accuracy of SINS/USBL integrated navigation system compared with the traditional positioning algorithm.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"226 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115069358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"iNavFIter: “Zero Error” Inertial Navigation Computation","authors":"Y. Wu","doi":"10.1109/iss46986.2019.8943626","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943626","url":null,"abstract":"The non-commutatively effect has long perplexed the inertial navigation community, especially for the high accuracy and dynamic applications. An inertial navigation algorithm based on functional iterative integration and Chebyshev polynomials is proposed to solve this problem. Numerical results demonstrate its astonishing accuracy superiority over the state-of-the-art algorithms.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129496995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A MIMU/Polarized Camera/GNSS Integrated Navigation Algorithm for UAV Application","authors":"Xiaofeng He, Lilian Zhang, Chen Fan, Maosong Wang, Wenqi Wu","doi":"10.1109/iss46986.2019.8943652","DOIUrl":"https://doi.org/10.1109/iss46986.2019.8943652","url":null,"abstract":"Many insects such as ants, honeybees, butterflies and so on, have taken advantage of the property of sensing polarized light to determinate the heading angle and find the way back home. More and more bio-inspired polarization navigation approaches have been researched by navigation experts because of the new navigation’s advantages of efficiency and reliability. For many small UAVs the navigation system usually consists of MEMS-inertial measurement unit (MIMU) and GNSS (Global Navigation Satellite System) receivers. And magnetometers are used to measure the yaw angle. But magnetometers are easily disturbed or interfered by power supply and/or iron, steel material. This paper discusses a MIMU/polarized camera/GNSS integrated navigation algorithm for UAV application. A polarized camera is designed to sense the polarization angle and polarization degree of the natural sun light. We have developed a single-chip polarization imaging sensor. Polarization imaging sensor utilizes pixelated linear polarization filters deposited on an array of silicon-based vertically CCD photodetectors. There are four pixelated polarization filters oriented nominally at 0°, 45°, 90°, and 135°. The 2 by 2 pattern is used to calculate the polarization information. Based on the time and position provided by GNSS receiver and the horizontal angles measured by MIMU, yaw angle can be obtained by polarized camera. The accuracy of yaw angle is dependent on the sky and weather status. This paper proposed a MIMU/polarized camera/GNSS integrated algorithm based on Kalman filter. The yaw angle is observed because polarized camera is used. And some land vehicle field experiments were carried out to demonstrate the feasibility of the new algorithm. The accuracy of yaw angle is better than 1° and can be applied to UAV navigation.","PeriodicalId":233184,"journal":{"name":"2019 DGON Inertial Sensors and Systems (ISS)","volume":"75 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121135008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}