Navigating the Drift: How Inertial Navigation Systems Accumulate Error Over Time
An inertial navigation system (INS) is a device that uses a combination of accelerometers, gyroscopes and magnetic sensors to measure the motion of an object. This type of navigation system can be used in aircraft and ships, but it has its drawbacks. One major issue with an un-aided INS is that drift can accumulate over time, leading to errors in both position and orientation. Let’s take a look at what causes this drift and how it can be corrected.
What Causes Drift?
The most common cause of drift in an un-aided INS is accelerometer bias error. The accelerometer measures the acceleration vector, which is then integrated twice to calculate the velocity and position vectors. If there is any bias error in the accelerometer readings, then the resulting velocity and position vectors will be inaccurate. This can lead to a gradual shift in the estimated position or orientation over time as the errors accumulate.
Drift can also occur due to gyroscope bias error or mechanical misalignment of components within the navigation system itself. Gyroscope bias error occurs when a slight offset is introduced into the angular rate measurement by an error in calibration or temperature change over time. Mechanical misalignment occurs when components such as gyroscopes or accelerometers are not properly aligned relative to each other, resulting in errors in motion measurements that accumulate over time.
How Can You Correct Drift?
Fortunately, there are several methods available for correcting drift in an un-aided INS. One common method is known as “zero velocity updating,” which involves using external aids such as GPS or laser range finders to periodically reset the internal navigation solution back to its true value. Other methods involve using Kalman filters or nonlinear estimators to fuse multiple sensors together, allowing for more precise tracking of motion over time and correction of any accumulated errors due to drift.
Inertial navigation systems are incredibly useful tools for measuring motion over long distances without having to rely on external aids like GPS signals or radio waves from satellites. However, these systems can suffer from accumulated errors due to drift if they are not properly calibrated or maintained over time. Fortunately, there are several techniques available for correcting this drift and restoring accuracy back into these systems so that they continue functioning accurately over long periods of time. With careful calibration and maintenance, inertial navigation systems can provide reliable motion estimates even without any external aid!
