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Improving the Inertial Navigation System of the CV90 Platform Using Sensor Fusion

Ambrius, Johan and Jönsson, Jimmie (2012) In ISSN 0280-5316
Department of Automatic Control
Abstract
The aim of this thesis was to synthesize and evaluate an inertial navigation system (INS) for the Combat Vehicle 90 Platform. The INS that was created utilize sensor fusion in order to combine the different signals coming from the vehicle’s multitude of sensors to estimate the vehicle’s position and heading in some known global reference frame. The CV90 standard INS, the NAV90 system, had performed the task of navigation with an unpredictable behavior due to the fact that it relied on heading estimates from a magnetic compass that is strongly influenced by nearby metallic objects, e.g. other vehicles. It will be demonstrated in this thesis that with a two-axis gyroscope mounted on the weapon’s rotational axis, the position and heading... (More)
The aim of this thesis was to synthesize and evaluate an inertial navigation system (INS) for the Combat Vehicle 90 Platform. The INS that was created utilize sensor fusion in order to combine the different signals coming from the vehicle’s multitude of sensors to estimate the vehicle’s position and heading in some known global reference frame. The CV90 standard INS, the NAV90 system, had performed the task of navigation with an unpredictable behavior due to the fact that it relied on heading estimates from a magnetic compass that is strongly influenced by nearby metallic objects, e.g. other vehicles. It will be demonstrated in this thesis that with a two-axis gyroscope mounted on the weapon’s rotational axis, the position and heading estimate from the INS can continue to provide reliable information even during long periods with without GPS signal reception. (Less)
Please use this url to cite or link to this publication:
author
Ambrius, Johan and Jönsson, Jimmie
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
inertial navigation system, Kalman filter, sensor fusion, NAV90, CV90
publication/series
ISSN 0280-5316
other publication id
ISRN LUTFD2/TFRT--5912--SE
language
English
additional info
month=December
id
3450576
date added to LUP
2013-02-04 09:44:15
date last changed
2013-02-04 11:22:47
@misc{3450576,
  abstract     = {The aim of this thesis was to synthesize and evaluate an inertial navigation system (INS) for the Combat Vehicle 90 Platform. The INS that was created utilize sensor fusion in order to combine the different signals coming from the vehicle’s multitude of sensors to estimate the vehicle’s position and heading in some known global reference frame. The CV90 standard INS, the NAV90 system, had performed the task of navigation with an unpredictable behavior due to the fact that it relied on heading estimates from a magnetic compass that is strongly influenced by nearby metallic objects, e.g. other vehicles. It will be demonstrated in this thesis that with a two-axis gyroscope mounted on the weapon’s rotational axis, the position and heading estimate from the INS can continue to provide reliable information even during long periods with without GPS signal reception.},
  author       = {Ambrius, Johan and Jönsson, Jimmie},
  keyword      = {inertial navigation system,Kalman filter,sensor fusion,NAV90,CV90},
  language     = {eng},
  note         = {Student Paper},
  series       = {ISSN 0280-5316},
  title        = {Improving the Inertial Navigation System of the CV90 Platform Using Sensor Fusion},
  year         = {2012},
}