Inertial Navigation Error Correction via Inter-Vehicle Angle Residuals
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Solution Overview
Problem
Inertial navigation devices on aerial vehicles face errors, particularly bias errors, which affect position and attitude calculations, and existing methods are susceptible to interference such as GPS jamming or surrounding buildings, making accurate autonomous flight challenging.
Innovation Solution
An inertial navigation device error correction system that uses wireless communication between aerial vehicles to calculate and correct errors by determining azimuth and elevation angles based on coordinates and position data from multiple vehicles, allowing for real-time correction of sensor biases in acceleration and angular velocity sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS-based positioning is used for autonomous flight control, then position identification accuracy is improved, but the system becomes susceptible to jamming and surrounding buildings interference
Solution Approach 1:
The patent introduces an inertial navigation device as an intermediary system that operates independently of GPS signals. This mediator provides position and attitude information through self-contained sensors (accelerometers and gyroscopes), eliminating dependency on external GPS infrastructure that is vulnerable to jamming and blockage by buildings.
Solution Approach 2:
The system transitions from relying on electromagnetic signal-based GPS positioning to inertial sensor-based positioning. This parameter change involves shifting from external signal-dependent measurement to internal sensor-based measurement, fundamentally changing how position and attitude data are obtained to avoid GPS-related vulnerabilities.
2Reliability
If inertial navigation device is used for autonomous flight control, then susceptibility to jamming and buildings is reduced, but position and attitude calculation accuracy deteriorates due to sensor errors
Solution Approach 1:
The patent implements a feedback mechanism where position and attitude information from multiple aerial vehicles are continuously exchanged and compared. Each vehicle uses the relative position and attitude data of other vehicles to validate and correct its own inertial navigation calculations, creating a distributed feedback system that compensates for individual sensor drift and errors.
Solution Approach 2:
The system merges data from multiple independent inertial navigation devices across different aerial vehicles. By combining position, attitude, and sensor information from multiple sources through wireless communication, the system creates a collective navigation solution that is more accurate and reliable than any single vehicle's independent calculation.
3Measurement precision
If multiple aerial vehicles communicate to correct inertial navigation errors, then position and attitude accuracy is improved, but system complexity increases
Solution Approach 1:
The patent makes each aerial vehicle's communication device multi-functional: it serves both for standard flight control communication and for exchanging inertial navigation correction data. The same wireless communication infrastructure and processing units are used for both purposes, avoiding the need for dedicated correction systems and reducing overall complexity.
Solution Approach 2:
Each aerial vehicle independently performs error correction calculations using its own processor and the received data from other vehicles. The system distributes the computational workload across all vehicles rather than requiring a central correction server, allowing each vehicle to self-correct its navigation errors using available collective information.
Data Source
AI summary
An inertial navigation device error correction system includes an inertial navigation device, a coordinate calculation device, and an error correction device mounted on each of aerial vehicles. The coordinate calculation device calculates coordinates of a second aerial vehicle with respect to a first aerial vehicle. The error correction device calculates azimuth and elevation angles of the second aerial vehicle based on first data on the first aerial vehicle, and azimuth and elevation angles of the second aerial vehicle based on second data on the second aerial vehicle. The error correction device corrects an error caused in the inertial navigation device of the first aerial vehicle, on the basis of angle measurement residuals that are differences between the azimuth and elevation angles of the second aerial vehicle based on the first data and the azimuth and elevation angles of the second aerial vehicle based on the second data.