Inertial Navigation & guidance

system
M S Prasad
AISST
Part Two ( FOG & TERCOM )

Stable Platforms

Strapdown System

The Sagnac-effect.

The inertial characteristics of light can also be utilized, by letting two

beams of light travel in a loop in opposite directions. If the loop rotates
clockwise, the clockwise beam must travel a longer distance before
finishing the loop. The opposite is true for the counter-clockwise beam.
Combining the two rays in a detector, an interference pattern is formed, which
will depend on the angular velocity.

Laser Gyroscope

Path length CW = ( 2 R + R d/dt . T )

Path length for CCW = ( 2 R - R d/dt . T )
T = ( 2 R + R d/dt .T ) / C - (( 2 R - R d/dt . T)/C
= 4 R ^2/ C^2 d/dt ==== proportional to rate of
change of d/dt

A = pi R ^2 N ( N no of turns of FO cable)
Phase shift = w . T

L = 4A/C^2 d/dt = 4 A/C d/dt

Where is A is area enclosed

Laser Gyro
Sagnac effect is very low for low rate of rotation. For better accuracy we measure
the fringe phase shift.
Also
L / L = f / f or f = 4A f /CL d/dt
f = K d/dt where k = 4A/L Integrate it we .get integrating Gyroscope
Lock in Problem
Frequency lock in at low angular rates caused due to imperfection in cavities .
Dither the laser block about the input axis .typical dither frequency is about 100Hz
Aim is to minimize the dwell time in lock on zone .
Example : Triangle of side length = 7.329 cms and height 6.2687 cms laser at
wave length = 0.6328 micrometers
then freq change = 0.32 hz ( angle change over a period ) taking = 1deg /hr

High accuracy The RLG meets the dynamic range for a pure IN system of being able to
measure angular rates from 0.01/hour to 400/s to the required accuracy a dynamic
range of 108:1.
Insensitivity to acceleration The RLG has no acceleration sensitive bias errors, as it is based
on optical effects rather than inertial effects.
Very high rate range This is limited only by the noise/bandwidth characteristics of the read
out electronics: 1,000/s is no problem.
Very high scale factor accuracy Errors are in the 5to10ppm bracket.
Negligible warm up time Full gyro operation from the instant of turn-on.
Excellent turn-on to turn-on performance Performance capabilities can be
maintained over several years without calibration.
Random noise uncertainty This is measured in degrees per hour, and is one of the RLGs
most important error characteristics. The error is signicantly higher than experienced with
angular momentum gyros.

Very high reliability : 50 .000 Hrs to 100000 hrs MTBF. Small volume ( 20 cms)

TERRAIN

Contour Signature

RADAR Altimeter
Pressure Alt

Matrix prep
M xN cells of dxd
size

Processing

Data Co rrelation

Long Sample short Matrix

Down track error

Cross track
Elevation file is long enough to accommodate Down track err
Sampling begins prior to arriving at the FIX

Short Sample Long Matrix

DT

CT
Sampling begins after reaching the FIX

1
(
1

( di d)^2)

di=|hi h i+1|
Dav= 1/n-1 sum di