2016 DGON Intertial Sensors and Systems (ISS)最新文献

{"title":"INS/GNSS/odometer data fusion in railway applications","authors":"C. Reimer, F. J. Muller, E. V. Hinuber","doi":"10.1109/INERTIALSENSORS.2016.7745678","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745678","url":null,"abstract":"Integrated navigation systems installed on trains usually make use of data fusion of GNSS data, INS data and wheel velocity data. Since the connection between the carriage body of the wagon and the wheel is not rigid, special considerations need to be taken into account to achieve a mostly optimal behavior of the integrated navigation solution even under pro-longed GNSS outages. In this paper, an approach to deal with this problem is presented and its effectiveness is evaluated with experimental test data from the brand new 57 km Gotthard Base Tunnel (GBT) in Switzerland. Using a navigation-grade RLG based INS of type iNAT-RQT-4003, errors <; 15 m for a complete passage are achieved with the presented approach.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124228419","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":"Touching the limit of FOG angular random walk: Challenges and applications","authors":"F. Guattari, C. Moluçon, A. Bigueur, E. Ducloux, E. de Toldi, J. Honthaas, H. Lefèvre","doi":"10.1109/INERTIALSENSORS.2016.7745662","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745662","url":null,"abstract":"In this paper, the limit of Angular Random Walk (ARW) performance in FOG (Fiber-Optic Gyroscope) technology will be investigated. First, a theoretical analysis will be carried out, then, an experimental confirmation will be attempted. Corresponding difficulties and solutions to measure low ARW will be highlighted. Finally the measurement will be presented and discussed. Theoretical analysis The scalability of FOG technology is one of its assets. Considering only ARW performance, we address the question of how good it can be theoretically, and practically. Mentioned scalability comes from Sagnac sensitivity which is proportional to length time diameter over wavelength. However the length parameter is limited theoretically. Even in the best case, when sensor is shot noise limited, we can calculate the fiber length after which ARW will no longer improve. Moreover, the diameter is limited practically for field equipment. And finally, the wavelength is part of the technological know-how for each FOG manufacturer. So, despite the famous scalability of FOG technology, an analysis of the physical limitations of the ARW has been carried out. Experimental measurement To validate this analysis, an experiment has been carried out. All the last developments made on iXblue FOG technology to lower the ARW have been implemented for the first time in one setup. 6km of thin coating PM (polarization maintaining) gyro fiber have been spooled over 180mm of mean diameter. The last innovations in FOG optical design have been gathered, including optical RIN subtraction technology. But the achieved ARW still remained stuck more than one order of magnitude higher than expected. We realize that the measure of such a low ARW is a technical issue as such. We develop and compare three different methods to measure real “self-noise” of the sensor, “damped”(use of a damped support), and “buried”(use of calmest location). Result and discussion We finally manage to validate an ARW of 38μ°/√(h). Discussion about how to get even better ARW will be held. Such a unique technology is now ready for innovative applications: scientific for ultra-precise dynamic alignment, spatial for stabilization during distant measurements, or seismic rotational ground motion measurement with a field equipment.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120890853","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":"Toward software defined coriolis vibratory gyroscopes with dynamic self-calibration","authors":"A. Trusov, A. D. Meyer, G. H. Mccammon, A. Bettadapura, M. Philips","doi":"10.1109/INERTIALSENSORS.2016.7745669","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745669","url":null,"abstract":"This paper reports two new milestones in the development of miniaturized Coriolis Vibratory Gyroscopes (CVG) with beyond navigation grade performance. Firstly, a small size and low parts count milli-Hemispherical Resonator Gyroscope (mHRG) based on a drastically simplified production unit is demonstrated with measured 0.00025 deg/rt-hr ARW and 0.005 deg/hr bias. Secondly, real-time self-calibration is validated using a dual mHRG system achieving strategic grade stability of 0.001 deg/hr over days of time and over temperature. We believe results of this work provide a valuable state of the art reference to both the inertial and MEMS communities pursuing next generation CVG architectures, designs, and self-calibration.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115944060","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":"IndoorGuide — A multi sensor pedestrian navigation system for precise and robust indoor localization","authors":"J. Ruppelt, P. Merz, G. Trommer","doi":"10.1109/INERTIALSENSORS.2016.7745679","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745679","url":null,"abstract":"In this publication, we will demonstrate a Multi Sensor Pedestrian Navigation System (MSPNS) called IndoorGuide for precise and robust indoor localization. The robustness and accuracy of our approach can be attributed to the data fusion strategy using diverse redundant measurement information. In this context, corrupted magnetometer or barometer measurements can be excluded by relative position and attitude estimations from the stereoscopic camera system or the rotating laser scanner. Moreover, the huge drift of MEMS based IMUs can be reduced with the relative pose estimations and step length estimation model for the torso unit. A key aspect for the presented navigation system is to operate in previously unknown buildings under challenging situations. Finally, the presented indoor navigation system fulfils the requirement to be independent from the infrastructure of a building.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121922736","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":"Sensor fusion for land vehicle slope estimation","authors":"N. Palella, L. Colombo, F. Pisoni, G. Avellone, J. Philippe","doi":"10.1109/INERTIALSENSORS.2016.7745683","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745683","url":null,"abstract":"Multi-level road junctions are becoming increasingly popular in several major cities. In order to cope with such scenarios, car navigation systems require positioning units to supply accurate slope information. This knowledge allows correct matching to one of the options available from 3D maps. For cost reasons, slope needs to be obtained using consumer-grade MEMS IMUs. One method to assess the vehicle pitch angle, is using accelerometer, although the contributions of gravity and motion need to be separated from its output. This compensation procedure, in land vehicle applications, is possible when unit is connected to vehicle (e.g. via CAN bus); in such a way motion information can be obtained and removed from the raw accelerometer measurements. These measurements, even when calibrated and motion-compensated, are affected by issues such as noise (vibrations, quantization and differentiation), biases due to lever arm between wheels and sensor, IMU cross axis effects, etc. These issues prevent accelerometer-only slope estimation to reach acceptable performance in multilevel navigation scenarios. In order to overcome them, this research work proposes to use gyroscope observables to complement the accelerometer in the pitch estimation algorithm. The gyroscope provides relative angle measurements, with the advantage of being very accurate on high frequencies, while drifting with time due to integration of biases. The accelerometer, instead, is typically subject to large errors at high frequencies. The two sensors observables have been merged into an innovative sensor fusion algorithm, based on two cascaded Kalman filters, in addition to the GNSS receiver data. The first one exploits GNSS PVT Outputs (e.g. altitude and vertical velocity) and car travelled path information, in order to calibrate and motion-compensate the accelerometer output. It provides also a smoothed, GNSS independent altitude estimation. The second one takes as input the raw slopes output from the first stage and performs fusion with the gyroscope signals. This stage also estimates the gyroscope calibration parameters. Algorithms have been designed and modelled in MATLAB™, validated on real field data acquired through a sensor logging equipment featuring a commercial GNSS receiver, a consumer-grade 6 axis IMU and a pressure sensor. The barometer measurements are not yet used in the sensor fusion algorithm, instead are fed to an alternative post processing method (also described in this work) providing a robust reference for validation. Simulation results confirms that the estimated slope is sufficiently smooth and accurate for multilevel junction navigation. This new algorithm overcomes the limitations of accelerometer-only architectures and constitutes an important building block for performance improvements of attitude and heading reference systems in automotive contexts. It could also be the basis for the development of a fully inertial navigation system. Future developments inc","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133354009","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":"PRIMUS: SWAP-oriented IMUs for multiple applications","authors":"A. Lenoble, T. Rouilleault","doi":"10.1109/InertialSensors.2016.7745670","DOIUrl":"https://doi.org/10.1109/InertialSensors.2016.7745670","url":null,"abstract":"In many applications, Size, Weight and Power (SWAP) consumption are key drivers in the design of a gyrocompass. During the past decade, Safran Electronics & Defense (formerly known as Sagem) designed the Hemispherical Resonator Gyroscope (HRG), a low-size, low-weight and low-power consumption sensor with remarkable performance to achieve efficient North Finding and Keeping (NF/NK), but also navigation-based applications. Taking the most out of HRG's outstanding reliability by design, Safran is now manufacturing a whole IMU product line, based on its high-end vibrating gyro, associated with MEMS accelerometers and a miniaturized electronic board. Through a SWAP-oriented design, Primus inertial measurement units are able to fulfil the needs of a wide range of navigation applications. Indeed, navigation systems based on Primus IMUs have already demonstrated: i) Sub-mil North and vertical finding accuracy, for many applications, including e.g. targeting ii) Sub-Metric inertial (GNSS-free) position keeping for cartography and mapping applications iii) State of the art accuracy for land and marine navigation systems iv) Easy integration into a navigator, thanks to Primus' multiple interfaces (GPS, DVL, CAN Bus, odometer, barometer ...). This paper introduces the Primus IMU and presents: v) An overview of Safran's work on the Hemispherical Resonator Gyroscope vi) Characteristics of the Primus IMU product line: a SWAP-focused architecture vii) Examples of applications addressed by Primus IMU.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133552601","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":"Space grade fiber optic gyroscope: R&D results and flight tests","authors":"Y. Korkishko, V. Fedorov, V. Prilutskiy, V. Ponomarev, I. Morev, A. I. Morev, D. Obuhovich, S. Kostritskii, A. Zuev, V. Varnakov, A. V. Belashenko, E. N. Yakimov, G. Titov, A. Ovchinnikov, I. B. Abdul'minov, S. V. Latyntsev","doi":"10.1109/INERTIALSENSORS.2016.7745682","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745682","url":null,"abstract":"The aims of the current work are R&D and flight tests of fiber-optic gyro for space applications VOBIS. Space-grade FOGs VOBIS are developed for the tasks of spacecraft orientation and navigation at the high orbit and are long-life radiation resistant. Its' estimated operation time is 15 years in high vacuum and radiation environment.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131916555","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":"Advances in lightweight precision north finding and positioning systems","authors":"J. Bias, N. Mathur, T. Thorpe","doi":"10.1109/INERTIALSENSORS.2016.7745673","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745673","url":null,"abstract":"Far Target Location (FTL) is a key element of the US Army's Force Operating Capabilities (FOC) doctrine to see, understand, and act first and foremost on the battlefield. Precise FTL data provides today's Soldier with essential information pertaining to direct and indirect fire, surveillance, and maneuver missions, where reliable and accurate Situational Awareness (SA) is vitally important for dismounted military operations. The US Army in conjunction with our industry partners, have spent the last ten years canvasing the marketplace to develop, optimize, and make available for fielding a lightweight, low power and accurate north finder and position keeping inertial module. This effort has included the technologies of Fiber Optic Gyros (FOGs), Ring Laser Gyros (RLGs), Magnetohydrodynamic gyros (MHD), Hemispherical Resonator Gyros (HRG), and MicroElectroMechanical Systems gyros (MEMS) and various hybrid solutions. Included in these efforts have been major breakthroughs in the evolution of the technologies, many challenges, and a continuing effort to push the boundaries of what is possible in this rapidly changing field. This paper will cover the progress, present state, and visions for the future as it applies to the dismounted soldier and combat vehicle crew members.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133781121","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":"Quality factor variation measured in a monolithic fused silica cylindrical resonator","authors":"Y. Pan, D. Wang, T. Qu, S. Wu, J. Liu, H. Zhao, X. Liu, K. Yang, H. Luo","doi":"10.1109/INERTIALSENSORS.2016.7745667","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745667","url":null,"abstract":"Cylindrical resonators are commonly used in Coriolis vibratory gyroscopes, which measure angular velocity through the precession of solid wave. Quality factor and its homogeneity are critical indicators of the resonator characteristics. In this paper, we report that the Q factor varies regularly around the resonator's axis of symmetry. We measured the resonator Q factor by the amplitude frequency response (AFR) using a non-contact method with an acoustic source for excitation and a laser Doppler vibrometer (LDV) for detection. By analyzing experimental results, we concluded that measuring Q factor at antinode can be a convenient and relatively accurate method for Q factor studies. However, one needs to be careful that the measurement point should be near the vibration antinode, otherwise the results may contain huge errors. We then built a theoretical model based on the two degree-of-freedom mass-spring system to analyze the Q variation behavior. The experimental results were consistent with the theoretical calculation. By comparing experimental results with numerical calculations, we showed that the circumferentially Q variation is due to the complex combined effect of frequency mismatch, Q factor mismatch, and the angle between excitation direction and the principle frequency axes (Qk) and the principle damping axes (Qc). We believed it is possible to combine the scan measurement of LDV with proposed model to determine the Q mismatch and direction of the damping axes without labor-consuming procedures, and therefore the proposed method can be developed for pre-screening of resonators for high-performance cylindrical resonator gyroscopes.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125460553","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":"First results with MEMS tilt sensors on bridges","authors":"S. Konig, P. Leinfelder","doi":"10.1109/INERTIALSENSORS.2016.7745675","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745675","url":null,"abstract":"For the study “IB-ISEB” of the German Federal “Bundesamt für Straßenwesen” (BASt) NG LITEF has developed a MEMS based tilt sensor. The purpose of the study is structural health monitoring of bridges with the help of a self-sufficient sensor network. The tilt sensor of NG LITEF includes intelligent self-calibration procedures to allow for exceptional long term stability. These procedures utilize the concept of a neutral point, where bias contributions from parasitic capacities are minimized. The tilt sensor is realized at low power consumption with a cost-effective COTS microcontroller. It could be demonstrated both, in laboratory and in a real world application on the bridge “Neckartalbrücke” along the highway A81, that the concept of the neutral point allows for a simple, linear temperature model of the bias and for a high long term stability of the tilt sensors output, with absolute drifts well below 50 μg during the observation time.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128209666","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}