Details
| Original language | English |
|---|---|
| Title of host publication | 28th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2021 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (electronic) | 9785919950806 |
| ISBN (print) | 978-1-6654-4191-9 |
| Publication status | Published - 2021 |
| Event | 28th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2021 - Saint Petersburg, Russian Federation Duration: 31 May 2021 → 2 Jun 2021 |
Abstract
This paper explores a way of combining conventional inertial sensors with cold atom interferometers (CAI) in order to reduce the drift of the navigation solutions in velocity and orientation. Instead of complementing and improving the CAI with conventional sensors, in this approach the conventional IMU will be used as main sensor for a prediction of the kinematic state. The CAI is then used for the correction of systematic errors and offsets in the framework of an extended Kalman Filter. Monte Carlo simulation studies demonstrate an improvement of the navigation solution precision. In addition, most drifts of velocity and orientation can be eliminated and the uncertainty of the velocity solution can further be reduced by a factor of 30 or more compared to the conventional strapdown. The observability of the error states is discussed.
Keywords
- Cold atom interferometry, Extended Kalman Filter, Hybridization, Inertial navigation
ASJC Scopus subject areas
- Engineering(all)
- Aerospace Engineering
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Control and Optimization
- Physics and Astronomy(all)
- Instrumentation
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28th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 9470809.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Integration of atom interferometers and inertial measurement units to improve navigation performance
AU - Tennstedt, Benjamin
AU - Schön, Steffen
N1 - Funding Information: This work was sponsored by BMWi, Project 50RK1957.
PY - 2021
Y1 - 2021
N2 - This paper explores a way of combining conventional inertial sensors with cold atom interferometers (CAI) in order to reduce the drift of the navigation solutions in velocity and orientation. Instead of complementing and improving the CAI with conventional sensors, in this approach the conventional IMU will be used as main sensor for a prediction of the kinematic state. The CAI is then used for the correction of systematic errors and offsets in the framework of an extended Kalman Filter. Monte Carlo simulation studies demonstrate an improvement of the navigation solution precision. In addition, most drifts of velocity and orientation can be eliminated and the uncertainty of the velocity solution can further be reduced by a factor of 30 or more compared to the conventional strapdown. The observability of the error states is discussed.
AB - This paper explores a way of combining conventional inertial sensors with cold atom interferometers (CAI) in order to reduce the drift of the navigation solutions in velocity and orientation. Instead of complementing and improving the CAI with conventional sensors, in this approach the conventional IMU will be used as main sensor for a prediction of the kinematic state. The CAI is then used for the correction of systematic errors and offsets in the framework of an extended Kalman Filter. Monte Carlo simulation studies demonstrate an improvement of the navigation solution precision. In addition, most drifts of velocity and orientation can be eliminated and the uncertainty of the velocity solution can further be reduced by a factor of 30 or more compared to the conventional strapdown. The observability of the error states is discussed.
KW - Cold atom interferometry
KW - Extended Kalman Filter
KW - Hybridization
KW - Inertial navigation
UR - http://www.scopus.com/inward/record.url?scp=85113233910&partnerID=8YFLogxK
U2 - 10.15488/11023
DO - 10.15488/11023
M3 - Conference contribution
AN - SCOPUS:85113233910
SN - 978-1-6654-4191-9
BT - 28th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2021
Y2 - 31 May 2021 through 2 June 2021
ER -