Abstract
The position and orientation system (POS) is widely applied in airborne Earth observation, which integrates the strapdown inertial navigation system (SINS) and global positioning system (GPS) to provide high-accuracy position, velocity, and attitude information for remote sensing motion compensation. However, for keeping the appointed direction of remote sensing load, the inertial measurement unit (IMU) and remote sensing load will be driven to sweep by the servo machine. The lever arms among IMU, GPS, and remote sensing load will be time varying, and their influence on the measurement accuracy of POS is serious. To solve the problem, a dynamic lever arm error compensation method is proposed, which contains the first-level lever arm error compensations between IMU and GPS and the second-level lever arm error compensation between POS and remote sensing load. The flight experiment results show that the proposed method can effectively compensate the dynamic lever arm error and achieve high measurement accuracy for POS.
Highlights
Airborne Earth observation is a kind of high technology which makes the aircraft as the platform and uses remote sensing load to acquire a wide-range, high-accurate, and multilayered space-time information of global surface and deep Earth [1, 2]
position and orientation system (POS) is a dedicated strapdown inertial navigation system- (SINS-)/global positioning system- (GPS-) integrated system and can provide navigation information with excellent short-term accuracy and long-term stable accuracy characters, which gather the advantages of both SINS and GPS [6, 7]
POS is composed of inertial measurement units (IMUs) and global positioning system and needs to transfer the solutions to the measuring center of the remote sensing load
Summary
Airborne Earth observation is a kind of high technology which makes the aircraft as the platform and uses remote sensing load to acquire a wide-range, high-accurate, and multilayered space-time information of global surface and deep Earth [1, 2]. There exist some spatial differences among sensors It makes the sensed motion information different from each other, which is called the lever arm effect. The mechanization and compensation methods of the lever arm between IMU and GPS are analyzed in [9, 10]. The spatial relationship between IMU, GPS, and remote sensing load will change, which is named the dynamic lever arm effect. In [20, 21], the first-level dynamic lever arm between GPS and IMU caused by an inertially stabilized platform has been analyzed and compensated.
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