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Dead Reckoning navigation (DR navigation) A.Kaviyarasu Assistant Professor Department of Aerospace Engineering Madras Institute Of Technology Chromepet, Chennai Prepared by

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Page 1: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Dead Reckoning navigation(DR navigation)

A.Kaviyarasu

Assistant Professor

Department of Aerospace Engineering

Madras Institute Of Technology

Chromepet, Chennai

Prepared

by

Page 2: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• A Navigation which uses a Inertial sensor (motion & rotational sensor) (or) airdata sensor (or) Doppler radar to continuously calculate position, orientation andvelocity of a moving object without need of any external references is said to beDead reckoning Navigation (DR).

• Types of DR Navigation Type– By using Inertial Measurement unit– By using Doppler Data measurement.– By using Air data Measurement

• Two important parameters are needed to perform DR Navigation– Initial Position of Latitude and Longitude– Northerly and Easterly velocity components of an aircraft, VN and VE.

Page 3: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

.

N

The rate of change of latitudeV

R

.

cos

EThe rate of change of longitu

Ve

Rd

EVsec

R

Page 4: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

0

0

0

( )

1t

N

The change of latitude over time with initial latitude is giv

V

y

dt

en b

R

0

0

0

( )

1

t

E

The change of longitude over time with initial long

V sec dt

itude is given y

R

b

sin 90deg

.

lim

80

It can be noticed that a mathematical gularity approaches ree

and Sec approaches infinity This method of Computing latitude and longitude

of DR position is ited to latitude below

deg .

.

ree So a different method is

needed to deal with high latitudes

Page 5: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• Some of the method to over singularity problems are– A spherical coordinate system with the poles removed to some other regions.– A Unipolar system– Directional Cosines

• The spherical coordinate system with transferred poles gives additionalcomplication to ellipsoidal correction because of earth is an ellipse.

• Singularity also still exits in spherical coordinate system.• Space does not permits for Unipolar system because of its length.• Direction cosine system is a system in which a coordinate of a point is represent

by three directional cosine of its radius vector w.r.t to ECEF reference frame.

Page 6: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Dead Reckoning by IMU

• Dead Reckoning by IMU is classified into two types– Stable platform system.– Strap down system.

• Three important corrections to be done in gyroscope the case of DR by IMU– Schuler's Corrections– Angular Rate Corrections

• Angular Rate corrections due to earth rotation.• Vehicle Rate correction due to aircraft flies over surface of the Earth.

– Acceleration Correction terms• Coriolis acceleration• Centrifugal acceleration• Gravitational acceleration

Page 7: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Stable platform

Page 8: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Strap down platform

Page 9: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Angular Rate corrections due to earth rotation.

• The earth angular velocity can be resolved into two components

This correction must be applied to the vertical gyroscope to precessit about the north pointing axis .

This correction must be applied to the Azimuth gyroscope to maintain the platform facing north .

*****It is noted that ,there is zero component of the earth angular velocity about the East pointing axis and this forms the basics of Gyro compassing alignment Technique.

cosComponent about north pointing axis

sin Component about Local Vertical axis

Page 10: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Schuler's Oscillations

Page 11: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Earth’s rotation rate components Vehicle rates

Page 12: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Vehicle Rate corrections due to aircraft flies over the surface of earth.

• The local vertical rotates in space as the aircraft flies over the surface of the earth because the earth is spherical.

• The angular rate of rotation of the local vertical with respect to the inertial axis are– VN / R about the East pointing axis – VE / R about the North pointing axis– The angular rates are referred as vehicle rate. In order to maintain the

platform local level , it is necessary to correct vertical gyro about itseast pointing and north point axes at an angular rate of VN / R and VE /R respectively.

Page 13: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• These types of errors propagation are unacceptable except in applicationwhere the time of flight is short (short range missile) or system could befrequently corrected by another navigation system(GPS).

• In order to avoid the tilt error the torque motor’s gives correction to theINS, so that the INS follows the local vertical irrespective of the vehicleacceleration so that it behave like a Schuler’s pendulum.

• Schuler’s pendulum is proposed by Austrian Physicist Max Schuler’s in1924. He proposed a idea of a new pendulum whose length was equal to theradius of the earth is unaffected by acceleration.

• The ‘plump bob’ of such pendulum would always be at the centre andwould defines the local vertical irrespective of motion ,or acceleration of thepoint of suspension of pendulum (moving vehicle).

Page 14: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• Any disturbance to the pendulum bob would causes it oscillate about the local verticalwith a period equal to

• A simple pendulum of length equal to the earth radius is not feasible. however apendulous system could be produced with an exact time period of 84.4 minutes wouldindicate the local vertical irrespective of the acceleration of vehicle carrying it.

• In 1924 the system is not available to implement in practical because of the un availableof computing technology. The first successful airborne demonstration of a Schulertuned inertial navigation was achieved by Dr.Charles Strak Draper and his team inMassachusetts Institute of Technology in 1952.

63781002 2 5066 84.4

9.81

LT Seconds minutes

g

Page 15: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three
Page 16: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• The X and Y accelerometers are mounted on a stable platform, so that– X accelerometer measures aircraft acceleration along East-West axis– Y accelerometer measures acceleration along the North-South axis

• The output of X and Y accelerometer after corrected for the Coriolis andcentrifugal acceleration component, are then integrated with respect to time togives the easterly and northerly velocity component of the aircraft. From thevelocity we can able to find the latitude and longitude of the vehicle.

• A Schuler tuning is achieved by feedback the accelerometer derived vehicle ratesVN/R and VE/R to the vertical gyro so the platform follows the local vertical asthe aircraft moves over the spherical earth.

Page 17: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• There is a vehicle rate correction (VE / R ) tan ,about local vertical(down vertical) which must be applied to the azimuth gyro in order tomaintain the north reference. The (VE / R ) tan term is derived byresolving the vehicle rate component about earth polar axis about ,through the latitude angle.

*sin tancos

E EV V

R R

ta

90

nE

It can be noted that the increases rapidly at high altitudes

and become infinite at the poles

V

R

Page 18: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Acceleration Correction terms

• The NED frame is rotating with respect to an inertial frame and this introducesfurther complication in deriving the aircraft rate of change of velocity along thenorth east axes.

• Aircraft linear motion in a rotational axis frame introduces a acceleration name asCoriolis acceleration.

• Coriolis acceleration introduced by French mathematician who formulated thegeneral principle who formulated the study of moving bodies in a rotational frame.

• Coriolis acceleration experienced by a moving body with a velocity V with respectto an axis frame which is rotating at an angular rate w is equal to 2VW and ismutually right angle to linear velocity and angular velocity vector.

Page 19: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

2 sin

= 2 sin 2 cos

2 cos

E

N D

E

North axis V

East axis V V

Vertical axis V

Coriolis accelerations due to Earth’s rotation

Page 20: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Centrifugal acceleration

• The aircraft is also turning in space as it flies over the surface of earth , becauseof the earth spherical in nature, it introduces a centrifugal acceleration.

• The centrifugal acceleration component along North, East and Down axes are.

2 2

tan

tan =

E D N

N E D E

N E

V V VNorth axis

R

V V V VEast axis

R

V VVertical axis

R

Page 21: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Gravitational Acceleration

• The Down axis (or vertical) axis accelerometer measures the gravitationalacceleration of the aircraft, so it is necessary to correct the output for the gravityacceleration g.

• The gravity acceleration reduces as the altitude increases and follows an inversesquare law. The value of g at an altitude, H is given by

• The local value of the gravitational acceleration g0 varies by a small amount withlatitude. This is because of centrifugal acceleration created by earth rate rotation .

20

02

0

. R

g gR H

0 g is the gravitational acceleration at the earth surface

Page 22: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

2

12 2 2

1 sin

1 sin

kg gequ

e

2

2

9.7803267714 /

0.00193185138639

0.00669437999013

gequ m s

k

e

Page 23: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Dead Reckoning navigation by using Doppler/Heading Reference

system

Page 24: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Doppler/heading Reference DR Navigation System

GThe ground speed and drift angle are measureV

doppler radar velocity

d directly

sensor systemby

The heading angle measured directly from AHRS

Page 25: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

• The primary function of a Doppler radar is to continuouslydetermine the velocity vector of an aircraft with respect to theground.

• The measured velocity vector is first subjected to suitablecoordinate frame and then to find the velocity vectorcomponents about north east and down components.

• The velocity vector is determined by measuring the Dopplershift of microwave signal transmitted from an aircraft at anangle steep angles, backscattered by a surface and received bya Doppler radar receiver.

• The track angle (heading) of an aircraft has been obtainedfrom Inertial Measurement unit.

Page 26: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

The track angle can be obtained from

N

E G

The northerly velocity component of aircraft V and easterly velocity

component V are driven by resolution of Ground speed V

cos

sin

N G

E G

V V

V V

Page 27: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Dead Reckoning navigation using Air data system

Page 28: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three
Page 29: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three
Page 30: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

cos

H T

T

H T

The Horizontal velocity component V of the true airspeed V is obtained

by resolving V through the aircraft pitch angle

V V

H T T

The northerly and easterly velocity component of the airspeed are then

derived by resolving V of the true airspeed V is obtained by resolving V

through the aircraft pitch angle

cos

sin

H

H

Northerly Airspeed V

Easterly Airspeed V

Page 31: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

( )

M WThe forecast or estimated wind speed V and direction is resolved

into northerly and easterly components

cos

sin

W W

W W

Northerly Wind component V

Easterly Wind component V

The northerly and easterly velocity component of the aircraft are

cos cos

sin sin

N H W W

E H W W

V V V

V V V

Page 32: Dead Reckoning navigation (DR navigation) · Dead Reckoning by IMU •Dead Reckoning by IMU is classified into two types –Stable platform system. –Strap down system. •Three

Thank you