Search NASA⌕ Search

SEARCH · Search NASA

Results for “INERTIAL NAVIGATION”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Superconducting techniques for gravity survey and inertial navigation

A three-axis gravity gradiometer is developed, in which the magnetic fields produced by persistent currents are modulated by motions of superconducting proof masses. The common-acceleration-induced errors are compensated for by a six-axis superconducting accelerometer with a single magnetically levitated proof mass, linear acceleration resolution of 4 x 10 to the -12th m/(s exp 2 Hz exp 1/2), and angular acceleration resolution of 3 x 10 to the -11th rad/(s exp 2 Hz exp 1/2). The testing of a prototype gradiometer revealed that the environment-induced noise limits the noise floor to 7 x 10 to the -10th/(s exp 2 Hz exp 1/2).

Chan, H. A.↗
NASA NTRS2010

Loosely Coupled GPS-Aided Inertial Navigation System for Range Safety

The Autonomous Flight Safety System (AFSS) aims to replace the human element of range safety operations, as well as reduce reliance on expensive, downrange assets for launches of expendable launch vehicles (ELVs). The system consists of multiple navigation sensors and flight computers that provide a highly reliable platform. It is designed to ensure that single-event failures in a flight computer or sensor will not bring down the whole system. The flight computer uses a rules-based structure derived from range safety requirements to make decisions whether or not to destroy the rocket.

Heatwole, Scott↗
NASA NTRS2017

Vision-Aided Inertial Navigation

This document discloses, among other things, a system and method for implementing an algorithm to determine pose, velocity, acceleration or other navigation information using feature tracking data. The algorithm has computational complexity that is linear with the number of features tracked.

Roumeliotis, Stergios I.↗
DOE OSTI2025

ENnUI : Exemplar Navigator Using Inertial Sensors

SAND2025-04794O ENnUI: Exemplar Navigator Using Inertial Sensors helps users understand and compare different navigation algorithms that rely on inertial sensors. This reference library offers a collection of reference mechanization equations and methods for estimating the position and movement of vehicles over time. Rather than aiming for the highest precision or performance, ENnUI focuses on creating a user-friendly framework that allows users to benchmark their own algorithms against a standard set of tools. It is useful for post-processing data and real-time navigation solutions. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Walker II, Michael [Sandia National Lab. (SNL-CA),↗
NASA NTRS1975

Strapdown cost trend study and forecast

The potential cost advantages offered by advanced strapdown inertial technology in future commercial short-haul aircraft are summarized. The initial procurement cost and six year cost-of-ownership, which includes spares and direct maintenance cost were calculated for kinematic and inertial navigation systems such that traditional and strapdown mechanization costs could be compared. Cost results for the inertial navigation systems showed that initial costs and the cost of ownership for traditional triple redundant gimbaled inertial navigators are three times the cost of the equivalent skewed redundant strapdown inertial navigator. The net cost advantage for the strapdown kinematic system is directly attributable to the reduction in sensor count for strapdown. The strapdown kinematic system has the added advantage of providing a fail-operational inertial navigation capability for no additional cost due to the use of inertial grade sensors and attitude reference computers.

Eberlein, A. J.↗
NASA NTRS2010

Shifting the Intertial Navigation Paradigm with the MEMS Technology

"Why don't you use MEMS?" is of the most common questions posed to navigation systems engineers designing inertial navigation solutions in the modern era. The question stems from a general understanding that great strides have been made in terrestrial MEMS accelerometers and attitude rate sensors in terms of accuracy, mass, and power. Yet, when compared on a unit-to-unit basis, MEMS devices do not provide comparable performance (accuracy) to navigation grade sensors in several key metrics. This paper will propose a paradigm shift where the comparison in performance is between multiple MEMS devices and a single navigation grade sensor. The concept is that systematically, a sufficient number of MEMS sensors may mathematically provide comparable performance to a single navigation grade device and be competitive in terms power and mass allocations when viewed on a systems level. The implication is that both inertial navigation system design and fault detection, identification, and recovery could benefit from a system of MEMS devices in the same way that swarm sensing has benefited Earth observation and astronomy. A survey of the state of the art in inertial sensor accuracy scaled by mass and power will be provided to show the scaled error in MEMS and navigation graded devices, a mathematical comparison of multi-unit to single-unit sensor errors will be developed, and preliminary application to an Orion lunar skip atmospheric entry trajectory will be explored.

Crain, Timothy P., II↗
NASA NTRS2022

Real-World Testing of LiDAR-Inertial Based Navigation and Mapping for Precision Landing

The fusion of LiDAR and inertial measurements duringspacecraft descent and landing can be used to estimate alander’s navigation state and map the terrain below. Together,these data products can be used to enable safe and preciselanding on celestial bodies for which a priori orbital reconnaissanceis insufficient for hazard detection and avoidance.Unlike camera images used in visual terrain relative navigation,LiDAR scans are insensitive to changes in illumination; as aresult, the technique can be used to land in poorly lit areas,or at times of day when the lighting conditions are incongruentwith existing orbital imagery. In this paper, we extend previouswork in which we introduced a factor graph based smoothingapproach for LiDAR-inertial navigation and mapping. Whereasthe algorithms were previously tested on simulated data, thispaper presents testing on real-world data. Data from theAutonomous Landing Hazard Avoidance Technology (ALHAT)airplane flight tests in the Yucca Flats and Death Valley in2009 (FT3), the Morpheus vertical take off and landing flighttests at Kennedy Space Center in 2014 (FT6), and the landingof Perseverance and Ingenuity on Mars in 2021 (M2020) wereused to evaluate algorithm performance. In this paper, weextend our LiDAR-inertial technique to work with a variety ofranging technologies: single point laser altimetry (FT3), denseflash LiDAR (FT6), and six-beam radar (M2020). A thoroughperformance analysis for all three datasets is presented. Datasetpreparation, improvements in algorithm robustness, and outlierrejection, which were necessitated by the transition to realworlddata, are discussed.

Trawny, Nikolas↗
NASA NTRS2002

Integrated INS/GPS Navigation from a Popular Perspective

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Omerbashich, Mensur↗
NASA NTRS1981

Autonomous navigation system

An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

Merhav, S. J.↗
NASA NTRS2004

Schuler Period in LEO Satellites

This paper generalizes and extends the concept of the Schuler oscillation that occurs in the theory of inertial navigation systems, allowing one to see how the Schuler phenomenon affects inertial navigation systems operating in space. We show why a low earth orbit satellite's orbital period is identical to the period of the Schuler pendulum, which is the period of the errors for terrestrial inertial navigation systems. We also show that the generalized form of the Schuler oscillation takes the same form as the Hill-Clohessy-Wiltshire equations for satellite relative motion and that the period of the out-of-plane motion in neighboring satellite relative trajectories is the same as the Schuler period. Finally, we describe how INS gyro drift manifests itself in different coordinate systems for the orbital case. These results may assist orbital flight dynamics and attitude control systems engineers in the design and analysis of INS-equipped spacecraft

Carpenter, Russell J.↗
NASA NTRS2013

GPS/INS Sensor Fusion Using GPS Wind up Model

A method of stabilizing an inertial navigation system (INS), includes the steps of: receiving data from an inertial navigation system; and receiving a finite number of carrier phase observables using at least one GPS receiver from a plurality of GPS satellites; calculating a phase wind up correction; correcting at least one of the finite number of carrier phase observables using the phase wind up correction; and calculating a corrected IMU attitude or velocity or position using the corrected at least one of the finite number of carrier phase observables; and performing a step selected from the steps consisting of recording, reporting, or providing the corrected IMU attitude or velocity or position to another process that uses the corrected IMU attitude or velocity or position. A GPS stabilized inertial navigation system apparatus is also described.

Williamson, Walton R.↗
NASA NTRS1991

INS integrated motion analysis for autonomous vehicle navigation

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Roberts, Barry↗
NASA NTRS1967

Navigation by satellite.

Satellite navigation systems requirements including Loran, inertial navigation and Navy systems

INERTIAL NAVIGATION↗