Staff publications (SoE)

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Browsing Staff publications (SoE) by Author "Allerton, David J."

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    Distributed data fusion algorithms for inertial network systems
    (Institution of Engineering and Technology, 2008-01-01T00:00:00Z) Allerton, David J.; Jia, Huamin
    New approaches to the development of data fusion algorithms for inertial network systems are described. The aim of this development is to increase the accuracy of estimates of inertial state vectors in all the network nodes, including the navigation states, and also to improve the fault tolerance of inertial network systems. An analysis of distributed inertial sensing models is presented and new distributed data fusion algorithms are developed for inertial network systems. The distributed data fusion algorithm comprises two steps: inertial measurement fusion and state fusion. The inertial measurement fusion allows each node to assimilate all the inertial measurements from an inertial network system, which can improve the performance of inertial sensor failure detection and isolation algorithms by providing more information. The state fusion further increases the accuracy and enhances the integrity of the local inertial states and navigation state estimates. The simulation results show that the two-step fusion procedure overcomes the disadvantages of traditional inertial sensor alignment procedures. The slave inertial nodes can be accurately aligned to the master node.
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    ItemOpen Access
    Redundant Multi-Mode Filter for a Navigation System
    (IEEE Institute of Electrical and Electronics, 2007-01-01T00:00:00Z) Allerton, David J.; Jia, Huamin
    An approach is introduced to the design of a multi-mode navigation filter to combine a low-cost skewed redundant inertial measurement unit (SRIMU) with a multifunctional GPS (MF-GPS) receiver in order to implement a fault-tolerant aircraft navigation system, which can achieve the required navigation performance of conventional systems in terms of accuracy, integrity, continuity, and availability. The MF-GPS receiver provides raw GPS measurements for pseudo- range and range rate to compute the navigation solutions (position and velocity) and also multi-antenna carrier phase interferometric measurements to estimate the aircraft attitude solution, if the carrier phase data is reliable. A multi- mode navigation filter is designed which combines state and measurement fusion methods and processes the SRIMU and raw MF-GPS outputs to provide reliable position, velocity and attitude information, and also kinematic parameters required in control, guidance, and navigation applications. The feasibility and performance of this integrated design is assessed and evaluated by using simulation. The accuracy of inertial gyros used in the evaluation ranges from 1 ± /h to 30 ± /h, including low-cost inertial sensor technologies. The simulation studies presented here show that a multi-mode navigation filter can achieve sufficient reliability and accuracy and that SRIMU/MF-GPS integrated navigation systems may provide a cost-effective system for future regional aircraft, general aviation aircraft, and unmanned aerial vehicle