Journal ArticleDOI
A multi-position self-calibration method for dual-axis rotational inertial navigation system
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In this article, a second order damper is added to the vertical velocity channel to suppress the divergence and then a vertical velocity error can be regarded as an effective observation to estimate the error parameters.Abstract:
In order to compensate errors of inertial measurement unit which is the core of rotational inertial navigation system, self-calibration is utilized as an effective way to reduce navigation error. Error model of navigation solution and initial alignment is used to establish the relationship between navigation errors and inertial measurement unit (IMU) errors. A second order damper is added to the vertical velocity channel to suppress the divergence and then the vertical velocity error can be regarded as an effective observation to estimate the error parameters. Since the accuracy of the self-calibration method is susceptible to the positioning error of gimbals, total least squares (TLS) method is utilized in identification of the error parameters. Experimental results show that all of the twenty-one error parameters can be estimated with the proposed rotation scheme. Compared to least squares (LS) method, TLS method can improve the position accuracy of 8 h by 46.2%.read more
Citations
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Journal ArticleDOI
An eight-position self-calibration method for a dual-axis rotational Inertial Navigation System
TL;DR: An eight-position self-calibration method for a dual-axis rotational Inertial Navigation System (INS) is provided in this article, where not only constant biases, scale factor errors, and misalignment errors, but also g-dependent biases can be calibrated.
Journal ArticleDOI
A Self-Calibration Method for Non-Orthogonal Angles of Gimbals in Tri-Axis Rotational Inertial Navigation System
TL;DR: A novel self-calibration method for non-orthogonal angles of gimbals is proposed in tri-axis RINS that could greatly improve the attitude output accuracy and make RINS more effective in some task systems where high attitudeoutput accuracy is urgently required.
Journal ArticleDOI
An Accelerometers-Size-Effect Self-Calibration Method for Triaxis Rotational Inertial Navigation System
TL;DR: Size effect and other IMU errors are calibrated through optimal estimation with navigation errors in triaxis RINS and the navigation performance of RINS could be further improved in both the short term and long term with the proposed self-calibration method.
Journal ArticleDOI
A Self-Calibration Method for Accelerometer Nonlinearity Errors in Triaxis Rotational Inertial Navigation System
TL;DR: Experimental results from a long-term vehicle navigation show that velocity and position accuracy of the triaxis RINS have improved significantly after compensation with the self-calibration results, fully illustrating the significance of the proposed self-Calibration method in improving the navigation performance of RINS.
Journal ArticleDOI
Analysis and Calibration of the Nonorthogonal Angle in Dual-Axis Rotational INS
TL;DR: Simulation and comparison analysis indicated that the calibration of nonorthogonal angles is effective and practical, and the feasibility of calibration and compensation is also verified by the improvement of navigation accuracy in the experiment.
References
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Journal ArticleDOI
An Analysis of the Total Least Squares Problem
Gene H. Golub,Charles Van Loan +1 more
TL;DR: In this article, a singular value decomposition analysis of the TLS problem is presented, which provides a measure of the underlying problem's sensitivity and its relationship to ordinary least squares regression.
Book
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Journal ArticleDOI
A new multi-position calibration method for MEMS inertial navigation systems
TL;DR: A new multi-position calibration method was designed for MEMS of high to medium quality that has been adapted to compensate for the primary sensor errors, including the important scale factor and non-orthogonality errors of the gyroscopes.
Journal ArticleDOI
Calibration and data fusion solution for the miniature attitude and heading reference system
TL;DR: Development, calibration and alignment of a miniature magnetic and inertial measurement unit, which is used as an attitude and heading reference system, are presented and the algorithm showed remarkable performance in the orientation determination as the average root mean square error was less than 1.2° over the entire appliable operating range.
Journal ArticleDOI
Methods for in-field user calibration of an inertial measurement unit without external equipment
TL;DR: In this article, the authors present methods to calibrate and compensate for non-zero biases, non-unit scale factors, axis misalignments and cross-axis sensitivities of both the tri-axial accelerometer and gyroscopic setups in a microelectro-mechanical systems (MEMS) based inertial measurement unit (IMU).
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