A Light Weight, Mini Inertial Measurement System for Position and Attitude Estimation on Dynamic Platforms Project

Description

Impact Technologies, LLC in collaboration with the Rochester Institute of Technology, proposes to develop and demonstrate a flight-worthy hardware prototype of a miniature, low cost/weight/ power device that provides stable and highly accurate near continuous positioning, attitude, and inertial measurements while being subjected to highly dynamic maneuvers and high vibration effects. In contrast to conventional methods that utilize either unreliable magnetic field sensors or extensive ground-based real-time tracking and control units that are expensive, large and power-consuming to operate, our innovative design focuses on identifying the gravitational vector onboard in real-time to bound sensor drift errors to achieve high degree of accuracy. The objective is achieved by a unique design that combines a dual-arc low-cost accelerometer array with three-axis rate gyros and GPS. Advanced filtering techniques such as the Unscented Kalman Filter are proposed to estimate sensor bias and drift effects. High vibration effects are estimated and eliminated by subtracting the imposed loading from the accelerometer measurements to provide a highly robust system in the presence of highly dynamical and vibrational conditions. Testing of the prototype system includes shaker table laboratory and hardware-in-the-loop tests along with an optional relevant vehicle platform test with support from NASA.

General Information

• This data is described at

  http://catalog.data.gov/dataset/a-light-weight-mini-inertial-measurement-system-for-position-and-attitude-estimation-on-dy-04462 Do you think this data is incorrect? Let us know

• This data is published by

  National Aeronautics and Space Administration Do you think this data is incorrect? Let us know

Legal Information

• The rights statement is at

  http://catalog.data.gov/dataset/a-light-weight-mini-inertial-measurement-system-for-position-and-attitude-estimation-on-dy-04462 Do you think this data is incorrect? Let us know

• Outside the US, this data is available under

  Creative Commons CCZero Do you think this data is incorrect? Let us know

• There are

  yes, and the rights are all held by the same person or organisation Do you think this data is incorrect? Let us know

• The content is available under

  Creative Commons CCZero Do you think this data is incorrect? Let us know

• The rights statement includes data about

  its data licence Do you think this data is incorrect? Let us know

• This data contains

  no data about individuals Do you think this data is incorrect? Let us know

Practical Information

• The data appears in this collection

  http://catalog.data.gov/organization/nasa-gov Do you think this data is incorrect? Let us know

• The accuracy or relevance of this data will

  go out of date but it is timestamped Do you think this data is incorrect? Let us know

• The data is

  backed up offsite Do you think this data is incorrect? Let us know

Technical Information

• This data is published at

  http://techport.nasa.gov/xml-api/8972 Do you think this data is incorrect? Let us know

• This data is

  machine-readable Do you think this data is incorrect? Let us know

• The format of this data is

  a standard open format Do you think this data is incorrect? Let us know

Social Information

• The documentation includes machine-readable data for

  title Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  description Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  identifier Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  landing page Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  publisher Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  keyword(s) or tag(s) Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  distribution(s) Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  release date Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  modification date Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  temporal coverage Do you think this data is incorrect? Let us know

• The documentation includes machine-readable data for

  language Do you think this data is incorrect? Let us know

• The documentation about each distribution includes machine-readable data for

  release date Do you think this data is incorrect? Let us know

• The documentation about each distribution includes machine-readable data for

  a URL to access the data Do you think this data is incorrect? Let us know

• The documentation about each distribution includes machine-readable data for

  a URL to download the dataset Do you think this data is incorrect? Let us know

• The documentation about each distribution includes machine-readable data for

  type of download media Do you think this data is incorrect? Let us know

• Find out how to contact someone about this data at

  http://catalog.data.gov/dataset/a-light-weight-mini-inertial-measurement-system-for-position-and-attitude-estimation-on-dy-04462 Do you think this data is incorrect? Let us know

• Find out how to suggest improvements to publication at

  http://www.data.gov/issue/?media_url=http://catalog.data.gov/dataset/a-light-weight-mini-inertial-measurement-system-for-position-and-attitude-estimation-on-dy-04462 Do you think this data is incorrect? Let us know