00000nam 2200000zi 4500 9.881306 CaOODSP 20240221113057 m o d f cr cn||||||||| 191029t20182018quca ob f000 0 eng d CaOODSP eng rda CaOODSP D68-10/093-2018E-PDF Beaudoin, Yanick, 1974- author. Satellite launcher navigation with one versus three IMUs : sensor positioning and data fusion model analysis / Yanick Beaudoin, André Desbiens, Département de génie électrique et de génie informatique, Université Laval ; Eric Gagnon, Defence Research and Development Canada ; René Landry, Jr., Département de génie électrique, École de technologie supérieure. Quebec (Quebec) : Defence Research and Development Canada = Recherche et développement pour la défense Canada, 2018. ©2018 1 online resource (23 pages, 2 unnumbered pages) : illustrations. text txt rdacontent computer c rdamedia online resource cr rdacarrier External literature (P) ; DRDC-RDDC-2018-P093 "Can unclassified." "Sensors (Basel, Switzerland), 18, no. 6 (2018)." "July 2018." Includes bibliographical references (pages 21-23). "Using multiple IMUs allows both their distribution along vehicle structures and a reliance on integration methods, which is not possible with a single IMU. This paper addresses the issue of relying on three IMUs instead of only one of a higher quality in the context of a satellite launcher. The impact of the IMU positions was tested by comparing collocated IMUs against IMUs installed in the head of each launcher stage. For multi-IMU configurations, three integration methods were tested: all IMUs fused in a single INS, multiple INSs fused in a stacked filter, and multiple INSs fused in a stacked filter with geometrical constraints. All navigation solutions were aided by a three-axis attitude reference sensor and were tested with and without a GPS receiver. The results show that distributing IMUs along the launcher structure does not improve navigation performances compared to having them collocated. The fusion of multiple IMUs in one INS provides equivalent results as one IMU. However, fusing multiple INSs greatly reduces estimation errors. Performances are further improved with the addition of geometrical constraints. During long GPS outages, relative velocity and position constraints should not be exploited, as they may lead to filter divergence"--Abstract. Defence R&D Canada. Defence R&D Canada. Valcartier Research Centre. External literature (P) (Defence R&D Canada) DRDC-RDDC-2018-P093. (CaOODSP)9.854437 PDF 1.25 MB https://publications.gc.ca/collections/collection_2019/rddc-drdc/D68-10-093-2018-eng.pdf