A Self-Calibration Method for Nonorthogonal Angles Between Gimbals of Rotational Inertial Navigation System

Navigation accuracy of an inertial navigation system can be significantly enhanced by rotating inertial measurement unit with gimbals. Therefore, nonorthogonal angles of gimbals, which are coupled into the navigation error during rotation, should be calibrated and compensated effectively. In this pa...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2015-04, Vol.62 (4), p.2353-2362
Main Authors: Wang, Bo, Ren, Qian, Deng, Zhihong, Fu, Mengyin
Format: Article
Language:English
Subjects:
Accelerometers
Accuracy
Calibration
Equations
extended Kalman filter
Mathematical model
Navigation
non-orthogonal angle
piece-wise constant system
Rotational inertial navigation system
self-calibration
Sensors
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Navigation accuracy of an inertial navigation system can be significantly enhanced by rotating inertial measurement unit with gimbals. Therefore, nonorthogonal angles of gimbals, which are coupled into the navigation error during rotation, should be calibrated and compensated effectively. In this paper, the relationship model of nonorthogonal angles and navigation error is established. Then, the calibration scheme and observation equation during gimbals rotation is proposed. Proved by a piecewise constant system method, all of the error parameters are observable and can be estimated by an extended Kalman filter. Experimental results show that compared with the traditional method, the proposed method can substantially reduce velocity error on static base. Moreover, the position accuracy of long-term navigation under moving base is also significantly increased.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2014.2361671