Inertial navigation system improvement using ground station data

Güner, Dünya Rauf Levent
Missile navigation systems rely on hybrid INS/GPS systems to employ lower grade inertial sensors for the sake of cost and availability. Current inertial navigation systems on missiles can perform accurately for a limited time without GPS aiding. However, GPS is the most likely system that is going to be jammed in a crisis or war by low cost jammers by any opposing force. Missiles do not have adequate equipment to maintain accuracy when GPS is jammed completely in the battle area. In this thesis, a new method is proposed to improve performance of INS systems onboard missiles and autonomous aerial vehicles with EO sensors in a GPS denied environment. Previously laid ground based beacons are used by the missile EO/IIR seeker for bearing-only measurements and position updates are performed by the use of modified artillery survey algorithms based on triangulation techniques which involve angle measurements. For mission planning, two main problems are identified as deployment problem and path planning problem and a tool for the optimal laying of beacons for a given desired trajectory and optimal path planning for a given network of beacons is developed by using evolutionary algorithms and results for test scenarios are discussed.


Extended kalman filter based multi-purpose inertial sensor field calibration algorithm
Yaman, Lisan Ozan; Azgın, Kıvanç; Department of Mechanical Engineering (2017)
The Global Satellite Navigation System (GNSS) is widely adopted for common positioning system due to its precision, cost and effectiveness. Despite its advantages, GNSS receivers are susceptible to signal degradation both intentional cases such as jamming/spoofing and unintentional cases like signal blockage in urban environment due to tall buildings. On the other hand, dead reckoning navigation system such as Inertial Navigation System (INS) is immune to external interferences and it can supply continuous ...
Navigation and control of an unmanned sea surface vehicle
Kumru, Murat; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2015)
In this study, navigation and control algorithms for unmanned sea surface vehicles are investigated. For this purpose, firstly the mathematical model of a sea surface vehicle with two propellers providing stable maneuvering capabilities is constructed considering Newton-Euler equations. The next phase is to design a suitable navigation algorithm which integrates the solutions of “Inertial Navigation System (INS)” and external aids such as “Global Navigation Satellite System (GNSS)” and magnetometer. At this...
Missile guidance with impact angle constraint
Çilek, Barkan; Kutay, Ali Türker; Department of Aerospace Engineering (2014)
Missile flight control systems are the brains of missiles. One key element of a missile FCS is the guidance module. It basically generates the necessary command inputs to the autopilot.Guidance algorithm selection depends on the purpose of the corresponding missile type. In this thesis, missile guidance design problem with impact angle constraint is studied which is the main concern of anti-tank and anti-ship missiles. Different algorithms existing in the literature have been investigated using various anal...
An adaptive unscented kalman filter for tightly-coupled INS/GPS integration
Akça, Tamer; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2012)
In order to overcome the various disadvantages of standalone INS and GPS, these systems are integrated using nonlinear estimation techniques and benefits of the two complementary systems are obtained at the same time. The standard and most widely used estimation algorithm in the INS/GPS integrated systems is Extended Kalman Filter (EKF). Linearization step involved in the EKF algorithm can lead to second order errors in the mean and covariance of the state estimate. Another nonlinear estimator, Unscented Ka...
Identification of inertial sensor error parameters
Altınöz, Bağış; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2015)
Inertial sensors (gyroscopes and accelerometers) that are used in navigation systems have distinct error characteristics such as bias, scale factor, random walk, etc. Calibration and characterization tests are done with 2 or 3 axes rate tables in order to identify these errors. It is possible to utilize error characteristics of these devices, and the navigation accuracy is directly dependent on the accuracy of this identification process. In this thesis, inertial sensor error parameters are identified by a ...
Citation Formats
D. R. L. Güner, “Inertial navigation system improvement using ground station data,” Ph.D. - Doctoral Program, Middle East Technical University, 2012.