INS BY M3.pptx and ins ppt as inertial navigation
- 1. INERTIAL NAVIGATION SYSTEM AN OVERVIEW OF INS TECHNOLOGY
- 2. INTRODUCTION • Navigation is the art and science of determining the position of a ship, plane or other vehicle, and guiding it to a specific destination. • Inertia is a property of matter by which it remains at rest or in uniform motion in the same straight line unless acted upon by some external force. • Inertial Navigation Systems (INS) are sophisticated navigation technologies that provide real-time information about an object's position, orientation, and velocity.
- 3. HISTORY • The foundation for inertial navigation began with the invention and development of gyroscopes in the 19th century. • Inertial navigation systems were originally developed for rockets. American rocketry pioneer Robert Goddard experimented with rudimentary gyroscopic systems.
- 4. What is an Inertial Navigation System • An inertial navigation system is a navigation device that uses motion sensors (accelerometers), rotation sensors (gyroscopes) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity of a moving object without the need for external references. • An INS system is composed of at least three gyros and three accelerometers enabling the system to derive a navigation solution. This navigation solution contains at least the position.
- 5. Components of INS 1. Accelerometers: • Accelerometers are sensors that measure linear acceleration along three orthogonal axes (usually X, Y, and Z). • They detect changes in velocity and allow the system to calculate the object's speed and position over time. • Typically, there are three accelerometers in an INS to cover all three dimensions.
- 6. Components of INS 2. Gyroscopes: • Gyroscopes are sensors that measure angular velocity or rotational changes in orientation along the same three axes. • They provide information about the object's orientation and direction of movement. • Like accelerometers, there are usually three gyroscopes in an INS.
- 7. Components of INS 3. Processing Unit: • The processing unit is the "brain" of the INS, responsible for computing and integrating the data from the accelerometers and gyroscopes. • It performs complex mathematical calculations to determine the object's position, orientation, and velocity based on the sensor measurements.
- 8. Components of INS 4.Data Integration and Filtering Algorithms: • Advanced algorithms are used to process and filter the sensor data, reducing errors, drift, and noise. • Integration algorithms, such as the Wiener filter, are commonly used to fuse accelerometer and gyroscope data for accurate navigation.
- 10. Working of INS
- 11. Working of INS 1. Initial Alignment: When an INS is first activated, it undergoes an initial alignment process. During this phase, the system establishes a reference frame and calculates its starting position and orientation. This reference frame is necessary to interpret the sensor measurements accurately. 2. Data Collection: Once the initial alignment is complete, the system starts collecting data from its sensors, which typically include accelerometers and gyroscopes. These sensors are placed along three orthogonal axes (X, Y, and Z) to measure changes in acceleration and orientation. 3. Acceleration Measurement: Accelerometers measure linear acceleration along each axis. They detect changes in velocity. For example, if you're in a car and it accelerates, the accelerometers detect this change and measure the force.
- 12. Working of INS 4. Gyroscope Measurement: Gyroscopes measure angular velocity or changes in orientation along each axis. If the object changes its orientation (e.g., rotation), the gyroscopes sense this change. 5. Data Integration: The data from the accelerometers and gyroscopes are continuously integrated over time. Integration is the process of summing up all the changes in acceleration to determine the object's velocity and position. 6. Error Correction: Over time, errors can accumulate due to sensor imperfections and external factors. INS systems use error correction algorithms, such as Kalman filters, to mitigate these errors and maintain accuracy.
- 13. Working of INS 7. Continuous Updates: As the object moves, the INS system continuously updates its position, orientation, and velocity. This real- time information is essential for navigation and control. 8. Navigation Output: The processed data is typically provided as navigation information to the user or other systems, which can include position coordinates, velocity, and orientation data.
- 14. Working of INS
- 15. Types of INS • INS can be categorized into 2 types based on their architecture and configuration:- 1. Strapdown INS 2. Gimballed INS
- 16. Strapdown INS • In a Strapdown INS, the accelerometers and gyroscopes are directly mounted to the moving object, such as an aircraft, spacecraft, or vehicle. The sensors are fixed to the body of the object and move with it. • This type of INS is mechanically simpler and more robust since it doesn't have gimbals or external moving parts. • The sensor data must be mathematically compensated for the object's motion, making the data integration process more complex.
- 17. Gimballed INS • In a Gimballed INS, the accelerometers and gyroscopes are mounted on a platform (or gimbals) that can move independently of the object. The gimbals isolate the sensors from the object's motion. • Gimballed INS systems are mechanically more complex but have the advantage of providing more stable and accurate measurements. • The sensor data doesn't require as much mathematical compensation as it remains relatively stable with respect to the Earth's frame of reference.
- 18. Applications of INS • Inertial Navigation Systems (INS) find applications in a wide range of fields due to their ability to provide accurate and self- contained navigation information. Here are some common applications of INS: 1. Aerospace (aircraft, spacecraft) 2. Military (missiles, submarines) 3. Autonomous Vehicles 4. Robotics 5. Geophysical Exploration
- 19. Advantages of INS • Inertial Navigation Systems (INS) offer several advantages that make them valuable in a wide range of applications. Here are the key advantages of INS: 1. Continuous navigation even in GPS-denied environments 2. High accuracy 3. Low latency 4. Operability in various conditions (underwater, underground, space)
- 20. Limitations of INS • While Inertial Navigation Systems (INS) offer many advantages, they also have limitations and challenges that need to be considered. Here are the key limitations of INS: 1. Drift errors over time 2. Initial alignment challenges 3. Cost and complexity
- 21. Recent Developments Inertial Navigation Systems (INS) continue to evolve and benefit from recent developments in technology. Some of the notable advancements and trends in INS include: 1. MEMS Sensors: Microelectromechanical systems (MEMS) technology has led to the development of smaller, more cost- effective, and power-efficient accelerometers and gyroscopes. MEMS sensors are increasingly used in miniaturized INS systems for drones, wearable, and small autonomous vehicles. 2. Improved Error Correction Algorithms: Advanced error correction and sensor fusion algorithms, such as Kalman filters and sensor fusion techniques, have become more sophisticated and capable of reducing drift errors in INS systems.
- 22. Recent Developments 3. Integration with Other Sensors: INS is often integrated with other sensors, such as magnetometers, barometers, and GPS, to enhance accuracy and reliability. Combining different sensor inputs through sensor fusion techniques improves navigation precision. 4. Enhanced Data Integration: Improved processing capabilities and computational power allow for more accurate and faster integration of sensor data, reducing latency in delivering navigation information. 5. Deep Learning and AI: Artificial intelligence and machine learning algorithms are being employed to better handle and correct sensor data, reducing errors and enhancing the accuracy of INS systems.
- 23. Conclusion • In conclusion, Inertial Navigation Systems (INS) represent a remarkable and versatile technology that provides accurate and self-contained navigation information across various domains. • It serves as a dependable solution in environments where external references may be unavailable or unreliable, such as aerospace, maritime, robotics, and land-based transportation. • As technology continues to evolve, INS remains a valuable tool for precision navigation, enabling us to explore, move, and operate with confidence in a world where accurate positioning and orientation are essential.
- 24. PRESENTED BY: M MAHESH MAYANK