Abstract
Traditional calibration method is usually performed with expensive equipments such as three-axis turntable in a laboratory environment. However in practice, in order to ensure the accuracy and stability of the inertial navigation system (INS), it is usually necessary to recalibrate the inertial measurement unit (IMU) without external equipment in the field. In this paper, a new in-field recalibration method for triaxial accelerometer based on beetle swarm antenna search (BSAS) algorithm is proposed. Firstly, as a new intelligent optimization algorithm, BSAS algorithm and its improvements based on basic beetle antennae search (BAS) algorithm are introduced in detail. Secondly, the nonlinear mathematical model of triaxial accelerometer is established for higher calibration accuracy, and then 24 optimal measurement positions are designed by theoretical analysis. In addition, the calibration procedures are improved according to the characteristics of BSAS algorithm, then 15 calibration parameters in the nonlinear method are optimized by BSAS algorithm. Besides, the results of BSAS algorithm and basic BAS algorithm are compared by simulation, which shows the priority of BSAS algorithm in calibration field. Finally, two experiments demonstrate that the proposed method can achieve high precision in-field calibration without any external equipment, and meet the accuracy requirements of the INS.
Highlights
Inertial navigation is a very common method of navigation
Because the calibration parameters of triaxial accelerometer are not invariable, some studies show that the calibration parameters such as scale factors and biases of the sensor will change in different environments [6,7]
It can be found that the curves of two different colors both have the fastest descent speed in the first 20 iterations, and the convergence speed of the beetle swarm antenna search (BSAS)
Summary
Inertial navigation is a very common method of navigation. Different from wireless navigation system [1], inertial navigation system (INS) obtains speed and direction information through integration, so inertial navigation is an autonomous navigation method. Triaxial accelerometer is one of the important components of the inertial measurement unit (IMU). The triaxial accelerometer can be used to judge the motion state of people or objects by measuring specific force information, and its accuracy will directly affect the performance of INS [5]. Because the calibration parameters of triaxial accelerometer are not invariable, some studies show that the calibration parameters such as scale factors and biases of the sensor will change in different environments [6,7]. It is usually necessary to recalibrate the triaxial accelerometer if the calibration parameters change greatly over time
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