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Performance evaluation of a three-dimensional cold atom interferometer based inertial navigation system

Weddig, Nicolai Ben und Tennstedt, Benjamin und Schön, Steffen (2021) Performance evaluation of a three-dimensional cold atom interferometer based inertial navigation system. In: 2021 DGON Inertial Sensors and Systems, ISS 2021, P16. IEEE. 2021 DGON Inertial Sensors and Systems (ISS), 2021-09-29 - 2021-09-30, Braunschweig, Deutschland. doi: 10.1109/ISS52949.2021.9619776. ISBN 978-1-6654-3178-1. ISSN 2377-3480.

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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9619776

Kurzfassung

A sensor fusion algorithm of a conventional MEMS IMU with semi-simulated cold atom interferometer (CAI) sensor values, based on an ESEKF, is demonstrated, and its performance is analyzed under different boundary conditions. CAI sensor values are generated from real navigation grade RLG IMU measurements. The MEMS IMU sensor data is used as input to a navigation strapdown algorithm. The developed ESEKF is able to track different systematic error terms, such as bias components, relative to the CAI reference. Dynamic and static experiments are recorded, with 10 repetitions. The drift of the MEMS strapdown + ESEKF (filtered) navigation solution is compared to the drift of a MEMS-only (unfiltered) strapdown navigation solution, with respect to a reference solution based on the navigation grade sensor data. The drift in position, velocity and attitude of the filtered solution is reduced by a factor of 30 (in position) to 100 (in attitude) with respect to the unfiltered solution. In the dynamic case, the drift is reduced from 9848.56 ± 297.27 m to 335.93 ± 138.51 m. A sensor delay study is performed as well. The system is stable for delays of up to 0.25 seconds between both sensors. For larger delays, the variance components of the bias terms in the process noise matrix need to be adjusted, as the large noise of the MEMS sensor causes divergence of the system. After this adjustment, the filter does not diverge for a higher delay, a smoothed error estimate results, which exhibits a worse performance when compared to the previously mentioned filter solutions with smaller delays. On the other hand, it performs better than the unfiltered solution. These results validate the applicability of the algorithm to real data. Furthermore, it is shown that the algorithm is stable even if sensors of different grades are used. Finally, divergence of the system only occurs if the sensor differences between two filtering steps are too large, which indicates that the grade of the conventional sensor, and the performed dynamics, are important characteristics of this type of filter.

elib-URL des Eintrags:https://elib.dlr.de/185895/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Performance evaluation of a three-dimensional cold atom interferometer based inertial navigation system
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Weddig, Nicolai BenInstitut für Erdmessung, Leibniz Universität Hannoverhttps://orcid.org/0000-0001-7401-936XNICHT SPEZIFIZIERT
Tennstedt, BenjaminInstitut für Erdmessung, Leibniz Universität Hannoverhttps://orcid.org/0000-0003-4362-0667NICHT SPEZIFIZIERT
Schön, SteffenIFE, Univ. Hannoverhttps://orcid.org/0000-0002-5042-6742NICHT SPEZIFIZIERT
Datum:2021
Erschienen in:2021 DGON Inertial Sensors and Systems, ISS 2021
Referierte Publikation:Nein
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Nein
DOI:10.1109/ISS52949.2021.9619776
Seitenbereich:P16
Herausgeber:
HerausgeberInstitution und/oder E-Mail-Adresse der HerausgeberHerausgeber-ORCID-iDORCID Put Code
Hecker, PeterIFF, TU BraunschweigNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Verlag:IEEE
Name der Reihe:DGON Inertial Sensors and Systems Symposium
ISSN:2377-3480
ISBN:978-1-6654-3178-1
Status:veröffentlicht
Stichwörter:Sensorfusion, MEMS, Cold Atom Interferometer, Kalman Filter
Veranstaltungstitel:2021 DGON Inertial Sensors and Systems (ISS)
Veranstaltungsort:Braunschweig, Deutschland
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:29 September 2021
Veranstaltungsende:30 September 2021
Veranstalter :Technische Universität Braunschweig Institute of Flight Guidance (IFF), German Institute of Navigation (DGON
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Kommunikation, Navigation, Quantentechnologien
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R KNQ - Kommunikation, Navigation, Quantentechnologie
DLR - Teilgebiet (Projekt, Vorhaben):R - Inertial Sensing for Space Applications
Standort: Hannover
Institute & Einrichtungen:Institut für Satellitengeodäsie und Inertialsensorik > Satellitengeodäsie und geodätische Modellierung
Hinterlegt von: Schilling, Manuel
Hinterlegt am:25 Apr 2022 09:26
Letzte Änderung:24 Apr 2024 20:47

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