New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts
Total Page:16
File Type:pdf, Size:1020Kb
Load more
Recommended publications
-
Development and Flight Test Experiences with a Flight-Crucial Digital Control System
NASA Technical Paper 2857 1 1988 Development and Flight Test Experiences With a Flight-Crucial Digital Control System Dale A. Mackall Ames Research Center Dryden Flight Research Facility Edwards, Calgornia I National Aeronautics I and Space Administration I Scientific and Technical Information Division I CONTENTS Page ~ SUMMARY ................................... 1 I 1 INTRODUCTION . 1 2 NOMENCLATURE . 2 3 SYSTEM SPECIFICATION . 5 3.1 Control Laws and Handling Qualities ................. 5 3.2 Reliability and Fault Tolerance ................... 5 4 DESIGN .................................. 6 4.1 System Architecture and Fault Tolerance ............... 6 4.1.1 Digital flight control system architecture .......... 6 4.1.2 Digital flight control system computer hardware ........ 8 4.1.3 Avionics interface ...................... 8 4.1.4 Pilot interface ........................ 9 4.1.5 Actuator interface ...................... 10 4.1.6 Electrical system interface .................. 11 4.1.7 Selector monitor and failure manager ............. 12 4.1.8 Built-in test and memory mode ................. 14 4.2 ControlLaws ............................. 15 4.2.1 Control law development process ................ 15 4.2.2 Control law design ...................... 15 4.3 Digital Flight Control System Software ................ 17 4.3.1 Software development process ................. 18 4.3.2 Software design ........................ 19 5 SYSTEM-SOFTWARE QUALIFICATION AND DESIGN ITERATIONS ............ 19 5.1 Schedule ............................... 20 5.2 Software Verification ........................ 21 5.2.1 Verification test plan .................... 21 5.2.2 Verification support equipment . ................ 22 5.2.3 Verification tests ...................... 22 5.2.4 Reverifying the design iterations ............... 24 5.3 System Validation .......................... 24 5.3.1 Validation test plan . ............... 24 5.3.2 Support equipment ....................... 25 5.3.3 Validation tests ....................... 25 5.3.4 Revalidation of designs ................... -
Utilising Accelerometer and Gyroscope in Smartphone to Detect Incidents on a Test Track for Cars
Utilising accelerometer and gyroscope in smartphone to detect incidents on a test track for cars Carl-Johan Holst Data- och systemvetenskap, kandidat 2017 Luleå tekniska universitet Institutionen för system- och rymdteknik LULEÅ UNIVERSITY OF TECHNOLOGY BACHELOR THESIS Utilising accelerometer and gyroscope in smartphone to detect incidents on a test track for cars Author: Examiner: Carl-Johan HOLST Patrik HOLMLUND [email protected] [email protected] Supervisor: Jörgen STENBERG-ÖFJÄLL [email protected] Computer and space technology Campus Skellefteå June 4, 2017 ii Abstract Utilising accelerometer and gyroscope in smartphone to detect incidents on a test track for cars Every smartphone today includes an accelerometer. An accelerometer works by de- tecting acceleration affecting the device, meaning it can be used to identify incidents such as collisions at a relatively high speed where large spikes of acceleration often occur. A gyroscope on the other hand is not as common as the accelerometer but it does exists in most newer phones. Gyroscopes can detect rotations around an arbitrary axis and as such can be used to detect critical rotations. This thesis work will present an algorithm for utilising the accelerometer and gy- roscope in a smartphone to detect incidents occurring on a test track for cars. Sammanfattning Utilising accelerometer and gyroscope in smartphone to detect incidents on a test track for cars Alla smarta telefoner innehåller idag en accelerometer. En accelerometer analyserar acceleration som påverkar enheten, vilket innebär att den kan användas för att de- tektera incidenter så som kollisioner vid relativt höga hastigheter där stora spikar av acceleration vanligtvis påträffas. -
A Tuning Fork Gyroscope with a Polygon-Shaped Vibration Beam
micromachines Article A Tuning Fork Gyroscope with a Polygon-Shaped Vibration Beam Qiang Xu, Zhanqiang Hou *, Yunbin Kuang, Tongqiao Miao, Fenlan Ou, Ming Zhuo, Dingbang Xiao and Xuezhong Wu * College of Intelligence Science and Engineering, National University of Defense Technology, Changsha 410073, China; [email protected] (Q.X.); [email protected] (Y.K.); [email protected] (T.M.); [email protected] (F.O.); [email protected] (M.Z.); [email protected] (D.X.) * Correspondence: [email protected] (Z.H.); [email protected] (X.W.) Received: 22 October 2019; Accepted: 18 November 2019; Published: 25 November 2019 Abstract: In this paper, a tuning fork gyroscope with a polygon-shaped vibration beam is proposed. The vibration structure of the gyroscope consists of a polygon-shaped vibration beam, two supporting beams, and four vibration masts. The spindle azimuth of the vibration beam is critical for performance improvement. As the spindle azimuth increases, the proposed vibration structure generates more driving amplitude and reduces the initial capacitance gap, so as to improve the signal-to-noise ratio (SNR) of the gyroscope. However, after taking the driving amplitude and the driving voltage into consideration comprehensively, the optimized spindle azimuth of the vibration beam is designed in an appropriate range. Then, both wet etching and dry etching processes are applied to its manufacture. After that, the fabricated gyroscope is packaged in a vacuum ceramic tube after bonding. Combining automatic gain control and weak capacitance detection technology, the closed-loop control circuit of the drive mode is implemented, and high precision output circuit is achieved for the gyroscope. -
Evaluation of Gyroscope-Embedded Mobile Phones
Evaluation of Gyroscope-embedded Mobile Phones Christopher Barthold, Kalyan Pathapati Subbu and Ram Dantu∗ Department of Computer Science and Engineering University of North Texas, Denton, Texas 76201 Email: [email protected], [email protected], [email protected] ∗ Also currently visiting professor in Massachusetts Institute of Technology. Abstract—Many mobile phone applications such as pedometers accurately determine the phone’s orientation. Similar mobile and navigation systems rely on orientation sensors that most applications cannot be used in real-life situations without smartphones are now equipped with. Unfortunately, these sensors knowing the device’s orientation to virtually orient it. rely on measured accelerometer and magnetic field data to determine the orientation. Thus, accelerations upon the phone The two principle problems we face are, 1) the varying which arise from everyday use alter orientation information. orientation of the device when placed in user pockets, hand- Similarly, external magnetic interferences from indoor/urban bags or held in different positions, and 2) existence of user settings affect the heading calculation, resulting in inaccurate acceleration and external magnetic fields. A potential solution directional information. The inability to determine the orientation to these problems could be the use of gyroscopes, which are during everyday use inhibits many potential mobile applications development. devices that can detect orientation change. These sensors are In this work, we exploit the newly built-in gyroscope in known to be immune to external accelerations and magnetic the Nexus S smartphone to address the interference problems interferences. MEMS based gyroscopes have already found associated with the orientation sensor. We first perform drift error their way in handhelds, tablets, digital cameras to name a few. -
Basic Principles of Inertial Navigation
Basic Principles of Inertial Navigation Seminar on inertial navigation systems Tampere University of Technology 1 The five basic forms of navigation • Pilotage, which essentially relies on recognizing landmarks to know where you are. It is older than human kind. • Dead reckoning, which relies on knowing where you started from plus some form of heading information and some estimate of speed. • Celestial navigation, using time and the angles between local vertical and known celestial objects (e.g., sun, moon, or stars). • Radio navigation, which relies on radio‐frequency sources with known locations (including GNSS satellites, LORAN‐C, Omega, Tacan, US Army Position Location and Reporting System…) • Inertial navigation, which relies on knowing your initial position, velocity, and attitude and thereafter measuring your attitude rates and accelerations. The operation of inertial navigation systems (INS) depends upon Newton’s laws of classical mechanics. It is the only form of navigation that does not rely on external references. • These forms of navigation can be used in combination as well. The subject of our seminar is the fifth form of navigation – inertial navigation. 2 A few definitions • Inertia is the property of bodies to maintain constant translational and rotational velocity, unless disturbed by forces or torques, respectively (Newton’s first law of motion). • An inertial reference frame is a coordinate frame in which Newton’s laws of motion are valid. Inertial reference frames are neither rotating nor accelerating. • Inertial sensors measure rotation rate and acceleration, both of which are vector‐ valued variables. • Gyroscopes are sensors for measuring rotation: rate gyroscopes measure rotation rate, and integrating gyroscopes (also called whole‐angle gyroscopes) measure rotation angle. -
Evaluation of MEMS Accelerometer and Gyroscope for Orientation Tracking Nutrunner Functionality
EXAMENSARBETE INOM ELEKTROTEKNIK, GRUNDNIVÅ, 15 HP STOCKHOLM, SVERIGE 2017 Evaluation of MEMS accelerometer and gyroscope for orientation tracking nutrunner functionality Utvärdering av MEMS accelerometer och gyroskop för rörelseavläsning av skruvdragare ERIK GRAHN KTH SKOLAN FÖR TEKNIK OCH HÄLSA Evaluation of MEMS accelerometer and gyroscope for orientation tracking nutrunner functionality Utvärdering av MEMS accelerometer och gyroskop för rörelseavläsning av skruvdragare Erik Grahn Examensarbete inom Elektroteknik, Grundnivå, 15 hp Handledare på KTH: Torgny Forsberg Examinator: Thomas Lind TRITA-STH 2017:115 KTH Skolan för Teknik och Hälsa 141 57 Huddinge, Sverige Abstract In the production industry, quality control is of importance. Even though today's tools provide a lot of functionality and safety to help the operators in their job, the operators still is responsible for the final quality of the parts. Today the nutrunners manufactured by Atlas Copco use their driver to detect the tightening angle. There- fore the operator can influence the tightening by turning the tool clockwise or counterclockwise during a tightening and quality cannot be assured that the bolt is tightened with a certain torque angle. The function of orientation tracking was de- sired to be evaluated for the Tensor STB angle and STB pistol tools manufactured by Atlas Copco. To be able to study the orientation of a nutrunner, practical exper- iments were introduced where an IMU sensor was fixed on a battery powered nutrunner. Sensor fusion in the form of a complementary filter was evaluated. The result states that the accelerometer could not be used to estimate the angular dis- placement of tightening due to vibration and gimbal lock and therefore a sensor fusion is not possible. -
FS/OAS A-24, Avionics Operational Test Standards for Contractually
Avionics Operational Test Standards FS/OAS A-24 Revision F September 10, 2018 The following standards apply to all contractually required/offered avionics equipment under US Forest Service contracts and Department of the Interior interagency fire contracts. Abbreviations and Selected Definitions are in Section 7. 1. Communications Systems Interference No squelch breaks or interference with other transceivers with 1 MHz separation. No transmit interlock functions for communications transceivers on fire aircraft. VHF-AM Transceiver Type TSO approved, selectable frequencies in 25 kHz increments, 760 channel minimum, operation from 118.000 to 136.975 MHz, 720 channel acceptable for DOI if contractually permitted Display Visible in direct sunlight Operation To and from service monitor Transmitter System modulation from 50% to 95% and clear, 5 watts minimum output power, frequency within 20 PPM (+2.46 kHz @ 122.925 MHz) (47 CFR 87.133) Receiver Squelch opens when receiving a signal from 50 Nautical Miles or (All Aircraft) greater when no other radios on the aircraft are transmitting. (See FS/OAS A-30 Radio Interference Test Procedures) Receiver Squelch opens when receiving a signal from 24 Nautical Miles or (Fire aircraft approved greater while other radios on the aircraft are transmitting with a for passengers or aircraft spacing of 2 MHz or greater. (See FS/OAS A-30 Radio Interference requiring two pilots) Test Procedures) 1 Aeronautical VHF-FM Transceiver (P25 required for Fire) Type Listed on Approved Radios list, P25 meets FS/AMD A-19 -
Radar Altimeter True Altitude
RADAR ALTIMETER TRUE ALTITUDE. TRUE SAFETY. ROBUST AND RELIABLE IN RADARDEMANDING ENVIRONMENTS. Building on systems engineering and integration know-how, FreeFlight Systems effectively implements comprehensive, high-integrity avionics solutions. We are focused on the practical application of NextGen technology to real-world operational needs — OEM, retrofit, platform or infrastructure. FreeFlight Systems is a community of respected innovators in technologies of positioning, state-sensing, air traffic management datalinks — including rule-compliant ADS-B systems, data and flight management. An international brand, FreeFlight Systems is a trusted partner as well as a direct-source provider through an established network of relationships. 3 GENERATIONS OF EXPERIENCE BEHIND NEXTGEN AVIONICS NEXTGEN LEADER. INDUSTRY EXPERT. TRUSTED PARTNER. SHAPE THE SKIES. RADAR ALTIMETERS FreeFlight Systems’ certified radar altimeters work consistently in the harshest environments including rotorcraft low altitude hover and terrain transitions. RADAROur radar altimeter systems integrate with popular compatible glass displays. AL RA-4000/4500 & FreeFlight Systems modern radar altimeters are backed by more than 50 years of experience, and FRA-5500 RADAR ALTIMETERS have a proven track record as a reliable solution in Model RA-4000 RA-4500 FRA-5500 the most challenging and critical segments of flight. The TSO and ETSO-approved systems are extensively TSO-C87 l l l deployed worldwide in helicopter fleets, including ETSO-2C87 l l l some of the largest HEMS operations worldwide. DO-160E l l l DO-178 Level B l Designed for helicopter and seaplane operations, our DO-178B Level C l l radar altimeters provide precise AGL information from 2,500 feet to ground level. -
Accelerometer and Gyroscope Design Guidelines
Application Note Accelerometer and Gyroscope Design Guidelines PURPOSE AND SCOPE This document provides high-level placement and layout guidelines for InvenSense MotionTracking™ devices. Every sensor has specific requirements in order to ensure the highest level of performance in a finished product. For a layout assessment of your design, and placement of your components, please contact InvenSense. InvenSense Inc. InvenSense reserves the right to change the detail 1745 Technology Drive, San Jose, CA 95110 U.S.A Document Number: AN-000016 specifications as may be required to permit +1(408) 988–7339 Revision: 1.0 improvements in the design of its products. www.invensense.com Release Date: 10/07/2014 TABLE OF CONTENTS PURPOSE AND SCOPE .......................................................................................................................................................................... 1 1. ACCELEROMETER AND GYROSCOPE DESIGN GUIDELINES ....................................................................................................... 3 1.1 PACKAGE STRESS .......................................................................................................................................................... 3 1.2 PANELIZED/ARRAY PCB ................................................................................................................................................. 5 1.3 THERMAL REQUIREMENTS ......................................................................................................................................... -
Influence of Coupled Sidesticks on the Pilot Monitoring's Awareness
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Institute of Transport Research:Publications Influence of Coupled Sidesticks on the Pilot Monitoring's Awareness During Flare Alan F. Uehara∗ and Dominik Niedermeiery DLR (German Aerospace Center), Braunschweig, Germany, 38108 Passive sidesticks have been used in modern fly-by-wire commercial airplanes since the late 1980s. These passive sidesticks typically do not feature a mechanical coupling between them, so the pilot's and copilot's sidesticks move independently. This characteristic disabled the pilot monitoring (PM) to perceive the control inputs of the pilot flying (PF). This can lead to problems of awareness in abnormal situations. The development of active inceptor technology made it possible to electronically couple two sidesticks emulating a mechanical coupling. This research focuses on the benefits of coupled sidesticks to the situation awareness of the PM. The final approach and landing scenario was considered for this study. Twelve pilots participated in the simulator experiment. Results suggest that the coupling between sidesticks, allowing the PM to perceive the PF's inputs, can improve the PM's situation awareness. Nomenclature ADI Attitude Director Indicator PF Pilot Flying AGL Above Ground Level PFD Primary Flight Display ATC Air Traffic Control PM Pilot Monitoring DLR German Aerospace Center PNF Pilot Not Flying FAA Federal Aviation Administration SA Situation Awareness FBW Fly-By-Wire SOP Standard Operating Procedure FCS Flight Control System TOGA Takeoff/Go-Around KCAS Knots Calibrated Airspeed VMC Visual Meteorological Conditions IMC Instrument Meteorological Conditions I. Introduction he control inceptors and the actuators of the control surfaces are mechanically decoupled in fly-by-wire T(FBW) airplanes. -
Fly-By-Wire: Getting Started on the Right Foot and Staying There…
Fly-by-Wire: Getting started on the right foot and staying there… Imagine yourself getting into the cockpit of an aircraft, finishing your preflight checks, and taxiing out to the runway ready for takeoff. You begin the takeoff roll and start to rotate. As you lift off, you discover your side stick controller is not responding correctly to your commands. Panic sets in, and you feel that you’ve lost total control of the aircraft. Thanks to quick action from your second in command, he takes over and stabilizes the aircraft so that you both can plan to return to the airport under reversionary mode. This situation could have been a catastrophe. This happened in August of 2001. A Lufthansa Airbus A320 came within less than two feet and a few seconds of crashing during takeoff on a planned flight from Frankfurt to Paris. Preliminary reports indicated that maintenance was performed on the captain’s sidestick controller immediately before the incident. This had inadvertently created a situation in which control inputs were reversed. The case reveals that at least two "filters," or safety defenses, were breached, leading to a near-crash shortly after rotation at Frankfurt’s Runway 18. Quick action by the first officer prevented a catastrophe. Lufthansa Technik personnel found a damaged pin on one segment of the four connector segments (with 140 pins on each) at the "rack side," as it were, of the avionics mount. This incident prompted an article to be published in the 2003 November-December issue of the Flight Safety Mechanics Bulletin. The report detailed all that transpired during the maintenance and subsequent release of the aircraft. -
Gyroscope Precession in Special and General Relativity from Basic Princi- Ples Rickard M
Gyroscope precession in special and general relativity from basic princi- ples Rickard M. Jonsson Department of Theoretical Physics, Physics and Engi- neering Physics, Chalmers University of Technology, and G¨oteborg University, 412 96 Gothenburg, Sweden E-mail: [email protected] Submitted: 2004-12-09, Published: 2007-05-01 Figure 1: A gyroscope transported around a circle. The Journal Reference: Am. Journ. Phys. 75 463 vectors correspond to the central axis of the gyroscope at different times. The Newtonian version is on the left, the Abstract. In special relativity a gyroscope that is sus- special relativistic version is on the right. pended in a torque-free manner will precess as it is moved along a curved path relative to an inertial frame S. We small. Thus to obtain a substantial angular velocity due explain this effect, which is known as Thomas precession, to this relativistic precession, we must have very high by considering a real grid that moves along with the gyro- velocities (or a very small circular radius). scope, and that by definition is not rotating as observed In general relativity the situation becomes even more from its own momentary inertial rest frame. From the interesting. For instance, we may consider a gyroscope basic properties of the Lorentz transformation we deduce orbiting a static black hole at the photon radius (where how the form and rotation of the grid (and hence the free photons can move in circles).3 The gyroscope will gyroscope) will evolve relative to S. As an intermediate precess as depicted in Fig. 2 independently of the velocity.