Abstract
Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.
Highlights
The inertial navigation system (INS) uses inertial elements to measure the acceleration and angular velocity of carriers, so it has unique advantages of independence, information completeness, and covertness [1,2,3]
Since the rolling change is little during the maneuver of the vehicle, it could be ignored in this paper
Experimental Results of Dynamic Calibration an experiment with the dynamic calibration method is performed with INSs that were manufactured by our lab
Summary
The inertial navigation system (INS) uses inertial elements to measure the acceleration and angular velocity of carriers, so it has unique advantages of independence, information completeness, and covertness [1,2,3]. In [17], a method of calibrating misalignment angles between systems is proposed, which has high accuracy. A new dynamic calibration method is proposed for misalignment angles between needs the help applied of the three-axis turntable, so it cannot be applied to dynamic calibration. A uses the speed and attitude difference between twoisINSs as view measurements to dynamically whole misalignment misalignment angles of three three axes. This method two sets of systems which can calibrate the whole calibrate misalignment angles for two systems without additional information sources or other uses the measuring speed and equipment attitude difference between two INSs asshow viewthat measurements to dynamically external such as turntable. Section analyzed the observability state model and the dynamic calibration model was proposed and a Kalman filter was built to biases variables from both qualitative and quantitative points.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
