Abstract
This paper proposes a new method for estimating the changes of gravity and compensating its effects on acceleration measurements in Inertial Navigation System (INS) based applications. Gravity is a critical factor and its effects are usually included in the measurements obtained from accelerometers. This results in a need to eliminate gravity effects from the measurements in order to accurately determine the true accelerations of moving objects. The proposed method utilizes the measurements from the existing INS sensors without employing any additional sensors. This significantly reduces the complexity of INS based system design. Two different types of models have been developed based on the proposed gravity compensation method and they are applied on Gyro-Based and Gyro-Free INS based applications. The performance of both these models has been analyzed by simulations and experiments. Error analysis of the new method has been studied and related equations have been derived. Results of simulations demonstrate that by including the proposed gravity compensation model, the errors in the acceleration measurements reduces in the Gyro-Free INS applications.
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