TY - JOUR
T1 - Error Analyses of Inertial Navigation System Based on Only Accelerometers and Without Gyroscope
TT - آنالیز خطای یک سیستم ناوبری اینرسی مبتنی بر شتاب سنج و بدون استفاده از ژیروسکوپ
JF - joc-isice
JO - joc-isice
VL - 5
IS - 3
UR - http://joc.kntu.ac.ir/article-1-78-en.html
Y1 - 2011
SP - 1
EP - 10
KW - Inertial navigation
KW - gyroscope
KW - accelerometer
KW - bias
KW - misalignment
N2 - current inertial navigation systems usually use liner accelerometer and gyroscopes to sense linear accelerations and angular velocity, respectively. The gyroscopes have the disadvantage such as: complicated manufacture technique, high cost, and large volume and so on. Due to these factors the small accelerometers with low cost to replace the gyroscopes in some inertial navigation systems. In this paper a ten-accelerometer configuration is proposed which can determine linear acceleration an angular velocity completely. The advantages of this method in comparison with previous works are the simplicity of the equations and elimination of direct integration of angular acceleration. Actual accelerometers have errors such as bias and misalignment which have significant effect on precision of inertial navigation systems. So, these errors and their effect on navigation are considered in modelling and simulation. The obtained results of simulation show that this method has suitable precision in short time navigation systems.
M3
ER -