Increasing objects localization precision by determination of inertial sensor calibration constants using differential evolution algorithm

TLDR: This work solves actual problems of inertial navigation systems - increasing of precision by determination of accelerometers and gyroscopes calibration constants using a differential evolution algorithm.

Abstract: This work solves actual problems of inertial navigation systems - increasing of precision. Main part of the paper deals with determination of accelerometers and gyroscopes calibration constants using a differential evolution algorithm. The determination of constants is based on the difference between trajectory recorded by GPS receiver and trajectory calculated from inertial sensor data. Moreover, the cost function, structure of individuals and used control constants values of differential evolution algorithm are described. The results of work are given by graphical comparison of real trajectory from GPS and trajectories calculated from inertial sensor data with optimized and unoptimized calibration constants.