Modeling and analytic error assessment of gyro-free INS

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A conventional inertial measurement unit contains three orthogonal accelerometers and three orthogonal gyroscopes to measure acceleration and angular rate of the vehicle. A different possibility is to use a set of distributed accelerometers to measure both acceleration and angular rate. This concept, known as gyro-free navigation, was proposed over 45 years ago and recently arousing a growing interest because of the emergence of low cost MEMS based accelerometers with rapidly increasing performance. Most research in the gyro-free field had focused on seeking optimal accelerometer locations and it appears that less attention was given for deriving appropriate state-space models and analytical error assessment as in a conventional INS. In this paper, we aim to fill this gap. We derive gyro-free kinematic equations expressed in the navigation frame fitting for any set of accelerometer configurations. Such a set may be arbitrary in terms of the number of accelerometers in the configuration, their relative location and orientation. We further derive gyro-free INS error state dynamic equations in a state space model and augment them with dynamic equations representing the accelerometers residuals. In addition, simplified error models and their corresponding closed form solutions, suitable for any gyro-free configurations are derived and their characteristics are analyzed. A case study of six accelerometers configuration is used to illustrate the gyro-free concept and to analyze its performance throughout all the models derived in the paper.

Original languageEnglish
Title of host publication54th Israel Annual Conference on Aerospace Sciences 2014
PublisherTechnion Israel Institute of Technology
Number of pages20
ISBN (Print)9781632662651
StatePublished - 2014
Externally publishedYes
Event54th Israel Annual Conference on Aerospace Sciences, IACAS 2014 - Tel-Aviv and Haifa, Israel
Duration: 19 Feb 201420 Feb 2014

Publication series

Name54th Israel Annual Conference on Aerospace Sciences 2014


Conference54th Israel Annual Conference on Aerospace Sciences, IACAS 2014
CityTel-Aviv and Haifa

ASJC Scopus subject areas

  • Aerospace Engineering


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