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Please note all the sources used are appropriately
cited. If you use this document cite it as well.
Citation: TBD
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Inertial Navigation Systems
Pavel Pačes
Introduction into
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Prerequisites
Subjects:
Aircraft sensors systems
(Přístrojové systémy letadel)
Navigation
(Navigace)
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Content
Introduction
◦ Requirements
Inertial Measurement Systems
Sensors
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Area Navigation (RNAV)
Instrument Flight Rules (IFR)
◦ Navigation Beacons – 1970, and later
◦ Inercial Reference Systems
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Navigation
Land navigation
Very high frequency Omnidirectional
Radio range (VOR)
Distance Measuring Equipment (DME)
Over ocean
Inertial Measurement Systems (INS)
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Precision
System precision
◦ Definition of airspace and obstacle clearance
Delays
New method of defining equipment
requirements =>
Performance-based Navigation (PBN)
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Current Status
Performance based Navigation
◦ Area Navigation (RNAV)
◦ Required Navigation Performance (RNP)
related to Actual Navigation Performance (ANP)
Differences:
the requirement for on-board performance
monitoring and alerting
What about service assurance? => RNAV
(coexistence of both systems)
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Source [4]
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Performance Based Navigation
RNAV (Area Navigation) umožňuje letadlu vybrat vhodnou trasu za využití soustavy navigračních prostředků (majáky, GPS, INS) –šetří se čas, délka dráhy a doba letu.
◦ Nejde to použít všude, je nutné definovat požadavky (na vybavení, posádku, letadlo, …)
Required navigation performance
Rozdíly se stírají – poslední dobou (od 1990) jsou i RNAV systémy vybavované funkcí performance monitoring and alerting= tj. vše je RNAV.
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RAIM
RAIM – Receiver Autonomous Integrity
Monitor
Poskytuje varování v případě, že systém
není možné použít pro navigaci.
U GPS je kontrola například použitím
několika čtveřic viditelných satelitů.
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RNP
Lepší spolehlivost a funkce garantující
funkčnost zařízení.
Přesnější navigace
◦ Menší rozestupy mezi letadly
◦ Navigace pouze pomocí RNP systému
Problém je cena, ale předpokládá se, že v
budoucnosti se budou využívat už jen
RNP systémy.
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RNAV requirements
continuous indication of aircraft position relative to track to be displayed to the pilot flying on a navigation display situated in his primary field of view;
display of distance and bearing to the active (To) waypoint;
display of ground speed or time to the active (To) waypoint;
navigation data storage function; and
appropriate failure indication of the RNAV system including its sensors.
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RNAV Lateral Navigation
Navigation Accuracy
◦ path definition error (PDE),
◦ flight technical error (FTE) and
◦ navigation system error (NSE)
Total System Error (TSE) =>
σ = sqrt(σPDE+ σFTE+ σNSE)
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RNAV Longitudinal navigation
Position along a track
It is not considered important
◦ Except , e.g. Descent points
Designation
RNAV X – whre X is a number in nautical miles representing 95% probability of aircraft operation within lateral distance from a path
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RNP
Used in specific airspaces
Permitting closer route spacing
Offer significant safety, operational and efficiency benefits
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RNP designation
An RNP of 0.3 means the aircraft
navigation system must be able to
calculate its position to within a circle
with a radius of 0.3 nautical mile
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What is it for?
Nose reduction along a path
Source [3]
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What is it for?
Precise approach over a
a river – no noise
polution of residential
areas
Source [5]
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Airplanes categories (SBAS)
Landing minimums
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RNP-0.3 required
Source [4]
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What do we have? Precision?
System Precision [m]
Loran, GPS 9-180
DECCA 200
Transit, Tacan 400
INS (after 1 hour) 650
VOR/DME & Doppler 900
Omega 2200
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Inertial Navigation System (INS)
Includes
A computer and
a module containing
◦ Accelerometers,
◦ Gyroscopes or
◦ Other devices
It is necessary to provide its position and velocity (GPS,
FMS, etc.) and then it calculates its own position,
velocity and orientation by integration from motion
sensors.
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Definice
• Polohové úhly
– Théta , pitch – podélný sklon
– Phi , roll – příčný náklon
– Psi , yaw, headind, azimuth - kurz
+
+
+
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Sensors
Mechanical gyroscopes – rotating mass
Accelerometers – movement of a mass
point transferred on electric signal
Micro Electro Mechanical Structures
(MEMS)
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Porovnání MEMS a RLG
Křivky výkonnosti RLG1308 a MEMS
Gyro
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Coordinate Frames
Body frame
◦ North-East-Down (NED)
Navigation frame
Earth Centered xxx Frame
Image source [7]
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Roll, Pitch and Yaw
Coordinate sysems
C TargetOriginal , or CTo
From
Euler angles singularity problem => Use
quaternions
Covariance matrix = measure of trust in
measurement
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INS Systems
Gimbaled platform
Gimbaled frame with an inertial center
gyro
Strap-down systems
Image source [Wiki] Image source [8]
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Gimbaled platform
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Gimbaled frame with an inertial
center gyro
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Strap-down system
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Strap-down systems alignment
Image source [8]
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INS algorithms
Examples
◦ Flat Earth
◦ Non-rotating Earth
◦ Rotating Earth
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Strap-down system
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Flat Earth
Image source [7]
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Non-rotating Earth
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Rotating spherical Earth navigator
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GPS system coupling
A
Tightly coupled
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Other system
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Gravitační pole
Nerovnoměrné rozložení se kterým se
musí počítat. Závislost na:
Geografické lokaci
Výšce
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Schulerovo kyvadlo
Kyvadlo s dobou kyvu 84.4 min – takové jehož délka je stejná jako délka poloměru země.
Unikátní vlastností je, že vektor vedoucí ze závaží kyvadla do bodu uchycení (počátku) zůstává stále vertikální vzhledem k povrchu navzdory jakémukoliv pohybu jeho počátku (závěsu).
V inerciálních systémech je zaváděno jako jeden z výpočetních bloků. Zavádí se jako změna úhlu, která závisí na rychlosti pohybu v horizontální rovině dělená poloměrem země.
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Schuler pendulum
/v R
6378 kmR
2. . =6.28. 637,8 km 84.4377 minl
Tg
-110 m.sv
61.5679e
• Kompletní oscilace
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Sensor Fusion
Magnetometers
GPS systems
Pressure Reference System
Image source [8]
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In-flight alignment and system
precision
Image source [8]
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AHRS
Altitude heading and reference system
◦ low-cost INS
◦ A magnetometer unit
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AHRS
INS
Magnetometer
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Aircraft instalation
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Characterization of sensors
Is the sensor good for INS?
Alan Variance – movement of an average
value in time
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Errors
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Raw data
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Allan Variance
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Literatura1. Establishment of Area Navigation Routes (RNAV),
http://www.epa.gov/EPA-IMPACT/2003/May/Day-09/i11638.htm
2. Navigation Systems - Level 3 Area Navigationhttp://www.allstar.fiu.edu/aero/RNAV.htm
3. Space Communication and Aviation Navigation: The United States Moves towards Performance-Based Navigation http://spacejournal.ohio.edu/issue9/aviation_navigation.html
4. RNP - What is it?http://www.overtheairwaves.com/airwaves/vol2-5a.htm
5. Example of the RNP ’River’ approach to Brisbane runway 01 - 03/08http://www.airservicesaustralia.com/media/pressreleases/pr3_08.asp
6. Airbus, getting to grips with modern navigation
7. Stovall, Sherryl H. Basic Inertial Navigation. California : Naval Air Warfare Center, Weapons Division, 1997. NAWCWPNS TM 8128.
8. Weed, Doug, a další. GPS Align In Motion of civilian strapdownINS. Development, Honeywell Commerzial Aviation Products, Honeywell Interantional. Picastaway : IEEE, 2004. stránky 184- 192. 0-7803-8416-4/04.