Abstract
A model for a redundant inertial measurement unit (RIMU) and a Kalman filter for estimating calibration parameters is reviewed. We then derive a transformation of the physical calibration parameters that reduces the model to a simpler form. A calibration filter based on this simpler form executes faster and therefore is of benefit to real-time in-flight operation and to ground processing. Not only does the simpler form save on computation, the calibration filter naturally breaks into cascaded and decoupled forms, depending on the linearization chosen. Simulation results are provided to demonstrate the filter’s performance and to compare it to previous results based on the model with physical parameters.
Published Version
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