Name | Absolut Sensor Aided Inertial Navigation Systems |
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Funding Reference | ISR/DSOR Internal Project |
Dates | 2004|2006 |
Summary | This project focuses on the design and implementation of inertial navigation systems that must provide, in real time, accurate estimates of the linear and angular positions, and velocities of the autonomous vehicles where they are installed. Micro-Electro-Mechanical Systems (MEMS) are nowadays key technologies to develop Inertial Navigation Systems for autonomous vehicles because of their reduced size, cost and power consumption, relative to conventional devices. Currently off the shelf available MEMS, like rate gyros and accelerometers, are still much less accurate than standard inertial sensors. This requires an extra effort in the development of online compensation techniques involving absolute sensors for biases compensation and platform alignment. The overall goal of this project is to exploit different absolute sensor characteristics, in their natural measurement space, using advanced tightly-coupled architectures to develop MEMS based INS for autonomous vehicles. It is expected to improve the natural INS drifting behaviour resorting to sensors that are currently available in autonomous vehicles. A few cases of interest include: |
Research Groups |
Dynamical Systems and Ocean Robotics Lab (DSOR) |
ISR/IST Responsible | |
People |
[1] Danilo Carvalho, António Pascoal, "Study of a Path Following Systems for a Fully Actuated Underwater Vehicle", Joint DSORL-ISR/UFES Technical Report, 2004