{"id":641,"date":"2024-03-14T21:58:27","date_gmt":"2024-03-14T21:58:27","guid":{"rendered":"https:\/\/live-optics-wp.pantheonsite.io\/lasso\/?page_id=641"},"modified":"2024-03-16T16:26:31","modified_gmt":"2024-03-16T16:26:31","slug":"inertial-navigation-system-gf-ins","status":"publish","type":"page","link":"https:\/\/wp.optics.arizona.edu\/lasso\/application\/inertial-navigation-system-gf-ins\/","title":{"rendered":"Inertial Navigation System (GF-INS)"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-page\" data-elementor-id=\"641\" class=\"elementor elementor-641\">\n\t\t\t\t<div class=\"elementor-element elementor-element-a7da4e1 e-flex e-con-boxed e-con e-parent\" data-id=\"a7da4e1\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-9f163ee elementor-widget elementor-widget-text-editor\" data-id=\"9f163ee\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul style=\"margin-bottom: 28px;margin-left: 40px;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif;font-size: 16px;font-style: normal;font-weight: 300\">\n<li style=\"list-style-type: disc\">LASSO has developed compact optomechanical accelerometers with lower noise floors and larger bandwidth.<\/li>\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\">Why Gyro free&nbsp;<\/span><span style=\"font-weight: bold\">IN<\/span><span style=\"font-weight: bold\">S?<\/span>&nbsp;Any trajectory consists of translations and rotations. Rotations are always more challenging to deal with. Usually, gyroscopes are implemented for it, but high-grade gyroscopes can be bulky, expensive and energy consuming. Here we obtain all translations and rotations (with both positive and negative, constant and non-constant angular acceleration) with linear accelerometers only, which potentially can result in accurate, compact and cost-effective INS<\/li>\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\">Operation:&nbsp;<\/span>We need to model the performance of established configurations, using technical parameters of our optomechanical accelerometer.&nbsp; We developed a universal Quaternion-based algorithm in Matlab for a cube configuration INS with six accelerometers.<\/li>\n<li style=\"list-style-type: disc\">We worked out several simple examples to test this algorithm for linear and circular trajectories for ex., helix, horizontal pendulum, parabola, bouncing ball.<\/li>\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\">Results<\/span>: We demonstrated that the algorithm is in a very good agreement with reference trajectories obtained with the same initial parameters but without gyro-free elements.&nbsp; Also, we confirmed these results with Python.<\/li>\n<li style=\"list-style-type: disc\">The below videos show, rotations with and without misalignment. This misalignment is introduced at the right bottom corner of the configuration matrix of 6 accelerometers. Two trajectories, reference (red) and gyro-free (blue) are shown. Without misalignment, reference and gyro-free trajectories coincide to the numerical error (~10<span style=\"font-size: 12px;line-height: 0;position: relative;top: -0.5em\">-14<\/span>). All these rotations are obtained with LINEAR accelerometers ONLY.<\/li>\n<\/ul>\n<div class=\"wp-container-3 wp-block-columns\" style=\"margin-bottom: 1.75em;flex-wrap: nowrap;align-items: center;gap: 2em;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif;font-size: 16px;font-style: normal;font-weight: 300\">\n<div class=\"wp-container-1 wp-block-column\" style=\"flex-grow: 1;min-width: 0px;flex-basis: 0px\">\n<figure class=\"wp-block-video aligncenter\" style=\"margin-top: 0px;clear: both;text-align: center\"><video style=\"width: 403px\" src=\"https:\/\/wp.optics.arizona.edu\/lasso\/wp-content\/uploads\/sites\/82\/2024\/03\/All-Rotations-Misal-1.mp4\" controls=\"controls\" width=\"300\" height=\"150\"><\/video><p><\/p>\n<figcaption style=\"margin-top: 0.5em;margin-bottom: 1em\">Rotation with misalignment<\/figcaption>\n<\/figure>\n<\/div>\n<div class=\"wp-container-2 wp-block-column\" style=\"flex-grow: 1;min-width: 0px;flex-basis: 0px\">\n<figure class=\"wp-block-video aligncenter\" style=\"margin-top: 0px;clear: both;text-align: center\"><video style=\"width: 403px\" src=\"https:\/\/wp.optics.arizona.edu\/lasso\/wp-content\/uploads\/sites\/82\/2024\/03\/All-Rotations-No-Misal-1.mp4\" controls=\"controls\" width=\"300\" height=\"150\"><\/video><p><\/p>\n<figcaption style=\"margin-top: 0.5em;margin-bottom: 1em\">Rotation without misalignment<\/figcaption>\n<\/figure>\n<\/div>\n<\/div>\n<ul style=\"margin-bottom: 28px;margin-left: 40px;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif;font-size: 16px;font-style: normal;font-weight: 300\">\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\">Future work:&nbsp;<\/span>If the model predicts significantly improved performance on existing iterations, we will design, fabricate, and test this opto-mechanical GF-INS.<\/li>\n<\/ul>\n<hr class=\"wp-block-separator\" style=\"height: 0px;border-top-style: solid;border-top-color: initial;border-bottom-style: solid;border-bottom-color: initial;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif;font-size: 16px;background-color: #ffffff\">\n<p style=\"font-size: 16px;font-style: normal;font-weight: 400;line-height: 1.6;margin-bottom: 1.25rem;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif\"><span style=\"font-weight: bold\">Researchers Involved:<\/span><\/p>\n<ul style=\"margin-bottom: 28px;margin-left: 40px;color: #222222;font-family: 'Open Sans', 'Helvetica Neue', Helvetica, Arial, sans-serif;font-size: 16px;font-style: normal;font-weight: 300\">\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\"><font color=\"#006bb8\"><span style=\"background-image: initial;background-position: 0px 0px;background-size: initial;background-attachment: initial\"><a href=\"https:\/\/wp.optics.arizona.edu\/lasso\/group-members\/\">Alexander Sinyukov<\/a><\/span><\/font><\/span><\/li>\n<li style=\"list-style-type: disc\"><span style=\"font-weight: bold\"><font color=\"#006bb8\"><span style=\"background-image: initial;background-position: 0px 0px;background-size: initial;background-attachment: initial\"><a href=\"https:\/\/www.optics.arizona.edu\/person\/felipe-guzman\">Felipe Guzman<\/a><\/span><\/font><\/span><\/li>\n<\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>LASSO has developed compact optomechanical accelerometers with lower noise floors and larger bandwidth. Why Gyro free&nbsp;INS?&nbsp;Any trajectory consists of translations and rotations. Rotations are always more challenging to deal with. Usually, gyroscopes are implemented for it, but high-grade gyroscopes can be bulky, expensive and energy consuming. Here we obtain all translations and rotations (with both positive and negative, constant and<\/p>\n","protected":false},"author":91,"featured_media":0,"parent":377,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-641","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/pages\/641","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/users\/91"}],"replies":[{"embeddable":true,"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/comments?post=641"}],"version-history":[{"count":7,"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/pages\/641\/revisions"}],"predecessor-version":[{"id":714,"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/pages\/641\/revisions\/714"}],"up":[{"embeddable":true,"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/pages\/377"}],"wp:attachment":[{"href":"https:\/\/wp.optics.arizona.edu\/lasso\/wp-json\/wp\/v2\/media?parent=641"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}