Method and apparatus for compensating attitude of inertial navigation system and method and apparatus for calculating position of inertial navigation system using the same

• US 20050065728A1
• Filed: 09/08/2004
• Published: 03/24/2005
• Est. Priority Date: 09/08/2003
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Yang, Jing, Chang, Wook, Bang, Won-chul, Cho, Sung-jung, Choi, Eun-seok, Kim, Dong-yoon, Kang, Kyoung-ho
• Granted Patent: US 7,366,612 B2
• Time in Patent Office: Days
• US Class Current: 701/220
• CPC Class Codes: G01C 21/185 for gravity

Abstract

Provided are a method and apparatus for compensating an attitude of an inertial navigation system and a method and apparatus for calculating a position of the inertial navigation system using the same. The method of compensating an attitude of the inertial navigation system includes sensing movement of the system and outputting information for stoppage time periods and a movement time period of the system; receiving angular velocity information of the system during every time period and calculating a first attitude of the system using the angular velocity information; receiving gravity direction information of the system during the stoppage time periods, calculating a second attitude of the system using the gravity direction information, and calculating an attitude error of the system during every time period using the first attitude and the second attitude; and compensating the attitude error for the first attitude.

Claims

1. A method of compensating an attitude of an inertial navigation system, comprising:

sensing movement of the system and outputting information for both stoppage time periods and a movement time period of the system;

receiving angular velocity information of the system during every time period and calculating a first attitude of the system using the angular velocity information;

receiving gravity direction information of the system during the stoppage time periods, calculating a second attitude of the system using the gravity direction information, and calculating an attitude error of the system during every time period using the first attitude and the second attitude; and

compensating the attitude error for the first attitude.

2. The method of claim 1, wherein the stoppage time periods include a first stoppage time period before the system begins movement and a second stoppage time period after movement of the system stops.

3. The method of claim 2, wherein, during the first or second stoppage time period, a standard deviation of the gravity direction information or of the angular velocity information is less than or equal to a predetermined value.

4. The method of claim 2, wherein the attitude error of the system for the first stoppage time period is output such that a difference between the first attitude and the second attitude varies linearly with respect to time and a difference between the first attitude and the second attitude at a start time of the first stoppage time period is 0.

5. The method of claim 4, wherein the attitude error for the movement time period is output such that a difference between the first attitude and the second attitude calculated at a start time and an end time of the movement time period varies linearly with respect to time and a difference between the first attitude and the second attitude at a start time of the movement time period is a difference between the first attitude and the second attitude calculated at an end time of the first stoppage time period.

6. The method of claim 5, wherein the attitude error during the second stoppage time period is output so that linear variation of the attitude error of the system during the movement time period extends to an end time of the second stoppage time period.

7. The method of claim 1, wherein the second attitude is given by:

${\mathrm{\varphi <br><br>}}_{\mathrm{acc}}={\tan }^{-1}<br><br>\left(\frac{-f_y^b}{-f_z^b}\right)$ ${\mathrm{\theta <br><br>}}_{\mathrm{acc}}={\sin }^{-1}<br><br>\left(\frac{f_x^b}{g}\right)={\tan }^{-1}<br><br>\left(\frac{f_x^b}{\sqrt{{\left(f_z^b\right)}^2+{\left(f_z^b\right)}^2}}\right),<br><br>{\mathrm{\psi <br><br>}}_{\mathrm{acc}}=0$

where φ

_acc is a roll angle, θ

_acc is a pitch angle, ψ

_acc is a yaw angle, g is gravitational acceleration, and f_x^b, f_y^b, f_z^b are the gravity direction information in a body frame.

8. An apparatus that compensates an attitude of an inertial navigation system, comprising:

a movement sensor which senses movement of the system and outputs information for stoppage time periods and a movement time period of the system;

an attitude calculating unit which receives angular velocity information of the system during every time period and calculates a first attitude of the system using the angular velocity information;

an attitude error calculating unit which receives gravity direction information of the system during the stoppage time periods, calculates a second attitude of the system from the gravity direction information, and calculates an attitude error of the system for each time period using the first attitude and the second attitude; and

an attitude compensating unit which compensates and outputs the attitude error for the first attitude.

9. The apparatus of claim 8, wherein the movement sensor divides the stoppage time period into a first stoppage time period before the system begins movement and a second stoppage time period after movement of the system stops.

10. The apparatus of claim 9, wherein the attitude error calculating unit approximates the attitude error so that a difference between the first attitude and the second attitude calculated at a start time and an end time of each time period varies linearly with respect to time, and calculates the attitude error of the system.

11. The apparatus of claim 8, wherein the attitude error calculating unit obtains the second attitude using:

${\mathrm{\varphi <br><br>}}_{\mathrm{acc}}={\tan }^{-1}<br><br>\left(\frac{-f_y^b}{-f_z^b}\right)$ ${\mathrm{\theta <br><br>}}_{\mathrm{acc}}={\sin }^{-1}<br><br>\left(\frac{f_x^b}{g}\right)={\tan }^{-1}<br><br>\left(\frac{f_x^b}{\sqrt{{\left(f_z^b\right)}^2+{\left(f_z^b\right)}^2}}\right),<br><br>{\mathrm{\psi <br><br>}}_{\mathrm{acc}}=0$

where φ

_acc is a roll angle, θ

_acc is a pitch angle, ψ

_acc is a yaw angle, g is gravitational acceleration, and f_x^b, f_y^b, f_z^b are the gravity direction information in a body frame.

12. A method of calculating a position of an inertial navigation system, comprising:

sensing movement of the system and outputting information for stoppage time periods and a movement time period of the system;

receiving angular velocity information of the system, calculating an attitude of the system using the angular velocity information, receiving acceleration information of the system, and compensating the attitude of the system using the acceleration information;

transforming the acceleration information into acceleration information in a space including the system using the compensated attitude; and

calculating a position of the system in the space using the transformed acceleration information.

13. The method of claim 12, wherein the stoppage time periods include a first stoppage time period before the system begins movement and a second stoppage time period after movement of the system stops.

14. The method of claim 13, wherein during the first or second stoppage time period, standard deviation of the acceleration information or angular velocity information is less than or equal to a predetermined value.

15. The method of claim 14, wherein the calculating the attitude of the system and the compensating the attitude of the system comprises:

calculating a first attitude of the system using the angular velocity information for each of the time periods;

calculating a second attitude of the system using the acceleration information for each of the time periods and calculating the attitude error of the system for each of the time periods using the first attitude and the second attitude; and

compensating and outputting the attitude error for the first attitude.

16. The method of claim 14, further comprising, between the transforming the acceleration information and the calculating the position of the system, obtaining an acceleration error value using the transformed acceleration information from the movement time period on a basis of a condition that the velocity is 0 at each time when the movement of the system starts and stops, and subtracting the calculated acceleration error value from the transformed acceleration information, thereby compensating for the transformed acceleration information.

17. The method of claim 14, further comprising, between the transforming the acceleration information and the calculating the position of the system, obtaining an acceleration error by linearly approximating the transformed acceleration information for each time period and compensating the acceleration error for the transformed acceleration information.

18. The method of claim 17, wherein the obtaining the acceleration comprises:

approximating the acceleration error such that the transformed acceleration information varies linearly with respect to time for the first and second stoppage time periods and setting the linearly-approximated acceleration information to 0;

linearly approximating the transformed acceleration information of the movement time period using linearly approximated gradients for the first and second stoppage time periods and a predetermined initial condition; and

compensating the linearly-approximated acceleration information for the transformed acceleration information during the movement time period.

19. An apparatus that calculates a position of an inertial navigation system, comprising:

a movement sensor which senses movement of the system and outputs information for stoppage time periods and a movement time period of the system;

an attitude compensating unit which receives angular velocity information of the system, calculates an attitude of the system using the angular velocity information, receives acceleration information of the system, and compensates the attitude of the system using the acceleration information;

an acceleration transforming unit which transforms the acceleration information into acceleration information in a space including the system using the compensated attitude; and

a position calculating unit which calculates a position of the system in the space using the transformed acceleration information.

20. The apparatus of claim 19, wherein the movement sensor divides the stoppage time periods into a first stoppage time period before the system begins movement and a second stoppage time period after movement of the system stops.

21. The apparatus of claim 20, wherein the movement sensor determines the first or second stoppage time period to be when standard deviation of the acceleration information or angular velocity information is less than or equal to a predetermined value.

22. The apparatus of claim 19, further comprising an acceleration compensating unit, between the acceleration transforming unit and the position calculating unit, which obtains an acceleration error value using the transformed acceleration information for the movement time period on a basis of a condition that the velocity is 0 when the movement of the system starts and stops, and subtracts the calculated acceleration error value from the transformed acceleration information, thereby compensating for the transformed acceleration information.

23. The apparatus of claim 19, further comprising an acceleration compensating unit, between the acceleration transforming unit and the position calculating unit, which linearly approximates the acceleration information transformed by the acceleration transforming unit during each time period and compensates for the transformed acceleration information using the linearly-approximated acceleration information.

24. The apparatus of claim 23, wherein the acceleration compensating unit approximates the acceleration error such that the transformed acceleration information varies linearly with respect to time for the first and second stoppage time periods, linearly approximates the transformed acceleration information for the movement time period using gradients of the linearly-approximated acceleration information, sets the linearly-approximated acceleration information of the first and second stoppage time periods to 0, and compensates the linearly-approximated acceleration information for the transformed acceleration information for the movement time period.

25. The apparatus of claim 19, wherein the position calculating unit calculates a first attitude and a second attitude of the system using the angular velocity information and the acceleration information for each of the time periods, calculates the attitude error of the system for each of the time periods using the first attitude and second attitude, and compensates the attitude error for the first attitude.