Comparison of the North Finding Capability of several MEMS IMUs of Different Performance Grades

Györfi, B.; Kohl, M.; Wagner, J. F.

doi:10.1109/iss58390.2023.10361926

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2024

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Analytical quaternion-based bias estimation algorithm for fast and accurate stationary gyro-compassing

Mohammadkarimi,

Mozafari,

Alizadeh

2024

Sci Rep

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This work introduces a novel approach to Strapdown Inertial Navigation System (SINS) alignment, distinct from recursive methods like Kalman filtering. The proposed methodology expedites bias error calculations by utilizing quaternion-based analytical relationships, which bypasses the slow convergence behavior associated with recursive algorithms, particularly in azimuth angle error estimation. In addition, the proposed approach demonstrates comparable accuracy to traditional fine alignment methods. Simulations and experiments validate that in contrast to the 10-min time requirement of traditional fine alignment methods (for azimuth angle estimation in stationary conditions), the proposed approach achieves the same accuracy within 20 s. However, limitations exist as the algorithm is applicable only in stationary conditions, and necessitating a high-grade IMU capable of measuring the earth’s rotation rate.

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