Determining inertial errors from navigation-in-place data

Pittman, Don; Roberts, Chris

doi:10.1109/plans.1992.185821

Cited by 10 publications

(7 citation statements)

References 5 publications

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“…It is not appropriate to use the separate calibration method again, because the IMU needs to be disassembled, transported to the laboratory and re-equipped in the middle, which limits the possibility of long-distance voyages for the ship in terms of time and space. The system-level calibration technology can break the space–time limit of the split calibration, because it does not need the height reference of the turntable (the precision turntable provides position and velocity reference), and takes the navigation errors, such as attitude error, velocity error and position error, as the observation measurement, and combines this with the least square method or a filtering method, such as Kalman filter, to calibrate the error parameters [ 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 ].…”

Section: Introductionmentioning

confidence: 99%

An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems

Wei

Zha

et al. 2022

Sensors

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The system-level calibration technology of rotational inertial navigation is one of the main methods to improve the accuracy of inertial navigation, and the design of the calibration scheme is the key to calibration technology. By the establishment of the error model of inertial navigation system, a 30-position calibration scheme is designed in this study. Based on the 30-dimensional Kalman filter, the constant errors, scale factor errors and installation error of gyroscope and accelerometer are identified. Comparing the traditional schemes and the 30-position scheme with the simulation experiment, the observability of the 30-position scheme is higher, the residual error of the estimated sensor is smaller and the navigation positioning accuracy after the estimated inertial sensor error parameter compensation is higher, which verifies the feasibility of the 30-position scheme. Finally, the measured experiment uses the 30-position scheme to estimate the error of a certain type of IMU sensor, and the calibration curve of the error parameter is well converged before the end of the calibration experiment, so it has certain practical value.

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Section: Introductionmentioning

confidence: 99%

An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems

Wei

Zha

et al. 2022

Sensors

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“…The 64-sequence scheme proposed in [7] was divided into four short periods, and its effects on modulating the mathematical platform misalignment angle errors caused by the symmetry scale-factor errors is better than those of the 16sequence scheme. At present, in addition to the widely used 16-sequence scheme proposed in [8], other schemes are not common in practice.…”

Section: Introductionmentioning

confidence: 99%

“…By calculating the SINS navigation errors, the precise mathematical relationship between the input and output of IMU is established in the systematic calibration method, and the on-site calibration and self-calibration of SINS are realized [10][11][12][13][14][15]. The systematic calibration method is better than traditional discrete calibration method as it requires no high-precision turntables and other test equipment, nor does it need to record the output of gyros or accelerometers [16]. Two sets of calibration rotation schemes were designed in [17], which calculated the horizontal and vertical components of the specific force before and after rotation, and estimated the various calibration parameters through the fitting method.…”

Section: Introductionmentioning

confidence: 99%

A unified scheme for rotation modulation and self-calibration of dual-axis rotating SINS

Fan

Xie

Wang

et al. 2021

Meas. Sci. Technol.

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Rotation modulation and self-calibration are the key techniques for error compensation of the strapdown inertial navigation system, which are generally implemented separately. The 16-sequence scheme is widely used for rotation modulation, while the 18-sequence scheme is used for self-calibration. To reduce the complexity of the practical operations, this paper proposes the combination of the rotation modulation scheme and the calibration path and six corresponding design principles of the scheme with both rotation modulation and self-calibration functions. A 48-sequence rotation scheme is designed, which unifies the scheme for self-calibration and rotation modulation. The simulation and experiment results prove that, compared with the 16-sequence rotation modulation scheme, the proposed 48-sequence scheme can reduce the mathematical platform misalignment angle errors and the sawtooth type velocity errors caused by the misalignments of the inertial measurement unit. Besides, its accuracy of self-calibration is better than that of the 18-sequence self-calibration scheme. The velocity errors and position errors can be reduced by about 0.1 m s−1 and 0.2 nm in 3 d.

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“…Systematic calibration does not rely on high-precision turntables, so it has been widely used in self-calibration and field calibration of SINS. Pittman [ 4 ] pointed out the four major advantages of the systematic calibration method: it can realize the on-site calibration of the SINS; it can realize the self-calibration of the SINS; it does not require high-precision turntables and other high-precision test equipment; it does not need to measure and record the output of the gyroscope or accelerometer. At present, the research on systematic calibration mainly focuses on the layout of the calibration path and the design of the Kalman filter.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Calibration for Dithering of MDRLG and Time-Delay of Accelerometer in SINS

Xing

Yang

2021

Sensors

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At present, the design and manufacturing technology of mechanically dithered ring laser gyroscope (MDRLG) have matured, the strapdown inertial navigation systems (SINS) with MDRLG have been widely used in military and business scope. When the MDRLG is working, high-frequency dithering is introduced, which will cause the size effect error of the accelerometer. The accelerometer signal has a time delay relative to the system, which will cause the accelerometer time delay error. In this article, in order to solve the above-mentioned problem: (1) we model the size effect error of the mechanically dithering of the MDRLG and perform an error analysis for the size effect error of the mechanically dithering of the MDRLG; (2) we model the time delay error of accelerometer and perform an error analysis for the time delay error of accelerometer; (3) we derive a continuous linear 43-D SINS error model considering the above-mentioned two error parameters and expand the temperature coefficients of accelerometers, inner lever arm error, outer lever arm error parameters to achieve high-precision calibration of SINS. We use the piecewise linear constant system (PWCS ) method during the calibration process to prove that all calibration parameters are observable. Finally, the SINS with MDRLG is used in laboratory conditions to test the validity of the calibration method.

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Determining inertial errors from navigation-in-place data

Cited by 10 publications

References 5 publications

An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems

An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems

A unified scheme for rotation modulation and self-calibration of dual-axis rotating SINS

Modeling and Calibration for Dithering of MDRLG and Time-Delay of Accelerometer in SINS

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