A self-calibration method of inner lever arms for dual-axis rotation inertial navigation systems

2019 ◽  
Vol 30 (12) ◽  
pp. 125110 ◽  
Author(s):  
Changshen Xu ◽  
Lingjuan Miao ◽  
Zhiqiang Zhou
Keyword(s):  
Inertial Navigation ◽  
Calibration Method ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Self Calibration ◽  
Axis Rotation

scholarly journals A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2947
Author(s):  
Ming Hua ◽  
Kui Li ◽  
Yanhong Lv ◽  
Qi Wu
Keyword(s):  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Measurement Information ◽  
Dynamic Calibration ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Additional Information ◽  
Two Systems ◽  
Dynamic Calibration Method

Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.

scholarly journals Analysis and Self-Calibration Method for Asynchrony between Sensors in Rotation INS

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2921 ◽  
Author(s):  
Jie Sui ◽  
Lei Wang ◽  
Tao Huang ◽  
Qi Zhou
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Velocity Error ◽  
Self Calibration ◽  
Axis Rotation ◽  
The Impact ◽  
Navigation Errors

The gyroscope, accelerometer and angular encoder are the most important components in a dual-axis rotation inertial navigation system (RINS). However, there are asynchronies among the sensors, which will thus lead to navigation errors. The impact of asynchrony between the gyroscope and angular encoder on the azimuth error and the impact of asynchrony between the gyroscope and accelerometer on the velocity error are analyzed in this paper. A self-calibration method based on navigation errors is proposed based on the analysis above. Experiments show that azimuth and velocity accuracy can be improved by compensating the asynchronies.

A new multi-position calibration method for MEMS inertial navigation systems

2007 ◽  
Vol 18 (7) ◽  
pp. 1897-1907 ◽  
Author(s):  
Z F Syed ◽  
P Aggarwal ◽  
C Goodall ◽  
X Niu ◽  
N El-Sheimy
Keyword(s):  
Inertial Navigation ◽  
Calibration Method ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Position Calibration

Research on Rotation Modulation for INS Based on MEMS Sensors

2013 ◽  
Vol 712-715 ◽  
pp. 1891-1899
Author(s):  
Xue Yun Wang ◽  
Jie Wu ◽  
Wei Wang
Keyword(s):  
Inertial Navigation ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Rotation Direction ◽  
Improve Accuracy ◽  
Other Information ◽  
Axis Rotation ◽  
Navigation Errors

nertial sensors based on Micro-electro-mechanical systems (MEMS) are leading a great prospect because they are cheap, small and light. However, large errors limit their applications in many Inertial Navigation Systems (INS). To improve accuracy of INS based on MEMS sensors, a systematic error auto-compensation method, Rotation Modulation (RM) is introduced. RM improves navigation performance without involving any other information sources, saving the essential characteristic of self-contain. The RM effects on sensor biases and navigation errors are analyzed. Different RM schemes including elements like number of rotating axis, rotation direction, continuity and speed are discussed. An INS based on MEMS sensors with an appropriate RM scheme is developed. Static and land vehicle tests are conducted, verifying the effectiveness of RM on improving inertial navigation performance. Through introducing RM, attitude accuracy is improved by 5 times, and velocity/position accuracy by nearly 10 times.

Analysis of Three Velocity Plus Attitude Matching Methods for Transfer Alignment

2012 ◽  
Vol 433-440 ◽  
pp. 2802-2807
Author(s):  
Ying Hong Han ◽  
Wan Chun Chen
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Excellent Performance ◽  
Transfer Alignment ◽  
Matching Methods ◽  
Moving Base

For inertial navigation systems (INS) on moving base, transfer alignment is widely applied to initialize it. Three velocity plus attitude matching methods are compared. And Kalman filter is employed to evaluate the misalignment angle. Simulations under the same conditions show which scheme has excellent performance in precision and rapidness of estimations.

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