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Aided inertial navigation field testsusing an RLG IMU
KTH, School of Architecture and the Built Environment (ABE), Transport and Economics (closed 20110301), Geodesy (closed 20110301).
2007 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis a system for aided inertial navigation (aided INS or AINS) has been testedthrough a number of kinematic experiments. In the experiments, data was collected andpost-processed by different methods. The system was built up by an IMU (inertial measurementunit) aided by a GPS receiver and an odometer. To fuse and filter the sensor dataa Kalman filter from the AINS Matlab Toolbox has been used.The following equipment was used• iNAV-RQH; IMU from iMAR• System 4000SSE; GPS receiver from Trimble• Correvit L-CE; odometer from Corsys-DatronThe following methods (and combinations of these) were used on the acquired data• INS with Zero velocity updates (ZUPT)• INS under non holonomic constraints• INS integrated with GPS• INS integrated with odometerThe work resulted in a number of trajectories; some of these could be compared with areference trajectory, in other cases this was not possible due to the nature of the experiment.Also there are no guidelines or standards on how to test a system in order to compare itwith other systems.Over all, good results were achieved with the system. The AINS toolbox worked outwell and it was indicated that the odometer could be used as an important aiding source inan aided inertial navigation system.

Abstract [sv]

I det här examens arbetet har ett understött system för tröghets navigering (AidedINS, AINS) testats genom ett antal kinematiska experiment. Under dessa experiment hardata samlats in och efterberäknats med olika metoder. Systemet var uppbyggt av en IMU(Inertial measurement unit) med stöd ifrån en GPS mottagare och en odometer, för attsamanfoga och filtrera sensordata användes ett Kalman filter ifrån AINS Tolbox, en Matlabtoolbox för understödd tröghetsnavigering.Följande utrustning användes• iNAV-RQH; IMU från iMAR• System 4000SSE; GPS mottagare från Trimble• Correvit L-CE; odometer från Corsys-DatronFöljande metoder (samt kombinationer av dessa) användes på det insamlade datat• INS med Zero velocity update (ZUPT)• INS under non holonomic constraints• INS integrerad med GPS• INS integrerad med odometerArbetet resulterade i en mängd trajektorer som i vissa fall kunde gämföras med enreferens trajektor, i andra fall var detta ej möjligt på grund av experimentets natur. Detfinns heller inga riktlinjer eller standarder på hur system skall testas för att lättare kunnajämföras sinsemellan.Generellt sett uppnåddes goda resultat med systemet. AINS toolbox fungerade bra ochdet påvisades att en odometer kan användas som ett viktigt stöd till ett understött systemför tröghets navigering.

Place, publisher, year, edition, pages
2007.
Series
TRITA-GIT EX ; 07-14
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-199840OAI: oai:DiVA.org:kth-199840DiVA, id: diva2:1065499
Supervisors
Available from: 2017-01-19 Created: 2017-01-16 Last updated: 2017-01-19Bibliographically approved

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