A dynamic gyro scale factor error calibration method for RINSs

2021 ◽  
pp. 1-1
Author(s):  
Hao Han ◽  
Lei Wang ◽  
Meng Wang
Keyword(s):  
Calibration Method ◽  
Scale Factor ◽  
Error Calibration

SINS Installation Error Calibration Based on Multi-Position Combinations

2011 ◽  
Vol 383-390 ◽  
pp. 4213-4220
Author(s):  
Zhen Huan Wang ◽  
Xi Jun Chen ◽  
Qing Shuang Zeng
Keyword(s):  
Theoretical Analysis ◽  
Least Squares ◽  
Rotation Rate ◽  
Scale Factor ◽  
New Method ◽  
Earth’S Rotation ◽  
Earth's Rotation ◽  
Error Calibration ◽  
Sine And Cosine Functions ◽  
Cosine Functions

A new method is proposed to calibrate the installation errors of SINS. According to the method, the installation errors of the gyro and accelerometer can be calibrated simultaneously, which not depend on latitude, gravity, scale factor and earth's rotation rate. By the multi-position combinations, the installation errors of the gyro and accelerometer are modulated into the sine and cosine functions, which can be identified respectively based on the least squares. In order to verify the correctness of the theoretical analysis, the SINS is experimented by a three-axis turntable, and the installation errors of the gyro and accelerometer are identified respectively according to the proposed method. After the compensation of the installation error, the accuracy of the SINS is improved significantly.

Multi-Position Self-Calibration Method of Inertial Navigation System

2012 ◽  
Vol 580 ◽  
pp. 146-150
Author(s):  
Ji Wei Zhang ◽  
Xiao Dong Xu ◽  
Bo Wang
Keyword(s):  
Navigation System ◽  
Horizontal Plane ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Scale Factor ◽  
Self Calibration ◽  
Attitude Angle ◽  
On Line

In order to solve the problem that in the dual axle rotating modulation inertial navigation system the angle between the horizon roller of the system and horizontal plane can't be removed, this paper provides an on-line self calibration method based on inertial navigation system, and this method realized the on-line self calibration of the inertial navigation system by calculating bias and scale factor both of the gyroscope and accelerometer, solving the problem that in the dual axle rotating modulation inertial navigation system the angle between the horizon roller of the system and horizontal plane can't be removed, providing an calculable basis for the prediction of attitude angle and realizing on-line autonomous self-calibration.

An Error Calibration Method against Aberration in Long Focal Length Measurement

2014 ◽  
Vol 34 (12) ◽  
pp. 1222002
Author(s):  
江瑶 Jiang Yao ◽  
白剑 Bai Jian ◽  
罗佳 Luo Jia ◽  
李强 Li Qiang
Keyword(s):  
Focal Length ◽  
Calibration Method ◽  
Length Measurement ◽  
Error Calibration

Scale factor calibration method for integrating-bucket sinusoidal phase shifting interferometry

2020 ◽  
Vol 127 ◽  
pp. 106149
Author(s):  
Fajie Duan ◽  
Ruijia Bao ◽  
Tingting Huang ◽  
Xiao Fu ◽  
Cong Zhang
Keyword(s):  
Calibration Method ◽  
Scale Factor ◽  
Phase Shifting ◽  
Phase Shifting Interferometry

Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials

2007 ◽  
Author(s):  
Joe Chalfoun ◽  
Catherine Bidard ◽  
Delphine Keller ◽  
Yann Perrot
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Calibration Method ◽  
Positioning Error ◽  
Full Extension ◽  
Error Calibration ◽  
Operational Range ◽  
System Errors ◽  
System Geometry ◽  
Flexible Model

The Interactive Robotics Unit of CEA LIST has developed a very challenging robotic carrier (called P.A.C.) which is able to perform high range intervention tasks inside blind hot cells. This long reach multi-link carrier has 11 degrees of freedom (DOF), an operational range over 6 meters of full extension and weighs less than 30 kg. The gravity effect in the manipulator is largely compensated by a special mechanical structure (the parallelogram) that helps to reduce the size of the actuators used to operate the robot. Due to its size and weight, this large robot manipulator holds lots of elastic and geometric deformations. Hence, it presents very low position accuracy. A flexible model is developed to take into account most of the structure deformations. A calibration method of the robot flexible parameters is used to reduce the positioning error of the end effector and the intermediate joints. Then, a second calibration method of the robot using generalized error matrices is applied to further reduce the residual positioning error of the system. These matrices are a polynomial function of the system geometry and joint variables. This method is first tested by simulation to ensure its viability on large manipulators. After encouraging simulation results, an experimental field is made for the calibration of the PAC manipulator. Results show that the adopted flexible model, with the new calibrated parameters, followed by the polynomial model is a good combination to correct and reduce the system errors.

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