EE 570: Location and Navigation: Theory & Practice

EE 570: Location and Navigation: Theory &
Practice
Navigation Sensors and INS Mechanization
Tuesday 12 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 1 of 19
Inertial Sensors
• As the name implies inertial sensors measure motion

wrt an inertial frame
 Advantages: Self-contained & non-reliant on external fields
(e.g. EM radiation, Earth’s magnetic field, …)
 Disadvantages: Typically rate measurements & expensive
• Accelerometers measure linear acceleration
 Actually measure specific force, typically, in the body frame
r b rb rb
fib = a ib - g ib
• Gyroscopes measure angular velocity
 Most gyroscopes measure angular speed, typically, in the
body frame rb
wib
Inertial Sensors - Accelerometer
Inertial Sensors
Accelerometers Gyroscopes
Pendulous Mass Vibratory
Closed Open Closed Open

loop loop loop loop
Inertial Sensors - Gyroscope
Inertial Sensors
Accelerometers Gyroscopes
Rotating Mass Sagnac Effect Coriolis Effect magnetohydrodynamic
Floated DTG Resonator Interferometer
Hemispherical Resonator Gyro
Microelectromechanical
Conductive fuid based

Ring Laser Gyro
Fiber Optic Gyro

Fluid Suspension
Mech Suspension
Magnetic Suspension
Inertial Sensors – Accelerometer: Pendulous Mass
• The Pendulous Mass Accelerometer

 A mass, a suspension system,
and a sensing element
Acceleration due to gravity

 Displacement  applied
spring
force resolved along the
Reaction force
k
displacement (x)
sensitive axis
 Modeled as a basic 2nd Mass
order system
f = m& x&+ bx&+ kx
damper
b
 In steady state
hence
Sense axis
• Closed-loop version generates a force to null the

displacement
 Can improve linearity and measurement range
• Pendulous Accelerometer
 Closed loop configuration
o Improved linearity
Sensitive axis
Figure: Clipp (2006)
Inertial Sensors – Accelerometer: Vibratory
• Vibratory accelerometers
 Vibrating Beam Accelerometers (VBA)
 Acceleration causes a change in resonance frequency
Sensitive axis
f 0 = k Tension
Mass
Inertial Sensors - Accelerometer: Vibratory
• MEMS Accelerometers
www.ett.bme.hu/memsedu
Inertial Sensors - Accelerometer: Vibratory
• MEMS Accelerometers
 Spring and mass from silicon and add fingers make a
variable differential capacitor
 Change in displacement => change in capacitance
SENSOR AT REST SENSOR ACCELERATING

SPRING
MASS APPLIED
ACCELERATION
ANCHOR TO CS1 < CS2

FIXED SUBSTRATE
Inertial Sensors – Gyroscopes: Rotating Mass
• Rotating Mass Gyros

 Conservation of Angular
Momentum
 The spinning mass will resist
change in its angular momentum
 Angular momentum
o H = I w (Inertia * Angular velocity)
 By placing the gyro in a pair of frictionless gimbals it is free
to maintain its inertial spin axis
 By placing an index on the x-gimbal axes and y-gimbal axis
two degrees of orientational motion can be measured
Inertial Sensors – Gyroscopes: Rotating Mass
• Rotating Mass Gyros

 Precession dH
o Disk is spinning about z-axis
o Apply a torque about the x-axis
H(t)
) t
H(t+d
o Results in precession about the y-axis
– =wH wdt
z z
y
Precession y
rate (w)
x
Inertial Sensors – Gyroscopes: Sagnac Effect Gyros
• Fiber Optical Gyro (FOG)

 Basic idea is that light travels at a
constant speed w
 If rotated (orthogonal to the plane) R

one path length becomes longer and
the other shorter
 This is known as the Sagnac effect
 Measuring path length change (over a
dt) allows w to be measured
er r
m
itt cto
ns te
Tra De
Inertial Sensors - Gyroscopes: Sagnac Effect Gyros
• Fiber Optical Gyro (FOG)

 Measure the time difference betw
the CW and CCW paths
 CW transit time = tCW ww
R
 CCW transit time = tCCW R
 LCW = 2R+RwtCW = ctCW

 LCCW = 2R-RwtCCW = ctCCW
 tCW = 2R/(c-R w) 4 R 2w
� Dt ;
 tCCW= 2R/(c+R w) c2 r r
N 4 Aw nsm
itte SperlitteSplitter r
 With N turns Dt ; Tra
sm
itt
e cto
r
t
cto
n De
c2 Tra
te
 Phase
De
8 NAw
fc �2Dtf c = 2Dtc / l0 =
cl0
Inertial Sensors - Gyroscopes: Sagnac Effect Gyros
• Ring Laser Gyro

 A helium-neon laser produces two
light beams, one traveling in the
CW direction and the other in the
CCW direction
 When rotating
o The wavelength in dir of rotation
increases (decrease in freq)
o The wavelength in opposite dir
decreases (increase in freq)
o Similarly, it can be shown that
4 Aw
Df ;
l0
Inertial Sensors - Gyroscopes: Coriolis Effect
• Vibratory Coriolis Angular Rate Sensor

 Virtually all MEMS gyros are based on this effect
n
io
ot
m
ar
ne
aCorolis = 2w �v Li aCorolis = 2w �v
n
io
ot
m
ar
ne
Li
• Basic Planar Vibratory Gyro
• In plane sensing (left)

• Out of plane sensing (right)
www.ett.bme.hu/memsedu
Inertial Sensors - Summary
• Accelerometers
 Measure specific force of the body frame wrt the inertial
frame in the body frame coordinates
rb
o Need to subtract the acceleration due to f ib
gravity to obtain the motion induced quantity
 In general, all points on a rigid body do NOT experience the
same linear velocity
• Gyroscopes
 Measure the inertial angular velocity
o Essentially, the rate of change of orientation rb
 All points on a rigid body experience the wib
same angular velocity

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EE 570: Location and Navigation: Theory &

• As the name implies inertial sensors measure motion

Pendulous Mass Vibratory

Closed Open Closed Open

Rotating Mass Sagnac Effect Coriolis Effect magnetohydrodynamic

Floated DTG Resonator Interferometer

Hemispherical Resonator Gyro

Conductive fuid based

Fiber Optic Gyro

• The Pendulous Mass Accelerometer

Acceleration due to gravity

• Closed-loop version generates a force to null the

Figure: Clipp (2006)

SENSOR AT REST SENSOR ACCELERATING

ANCHOR TO CS1 < CS2

• Rotating Mass Gyros

• Rotating Mass Gyros

• Fiber Optical Gyro (FOG)

 If rotated (orthogonal to the plane) R

• Fiber Optical Gyro (FOG)

 LCW = 2R+RwtCW = ctCW

• Ring Laser Gyro

• Vibratory Coriolis Angular Rate Sensor

• Basic Planar Vibratory Gyro

• In plane sensing (left)

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