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.

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

scholarly journals Optimizing Strap-down Inertial Navigation Systems Characteristics and External Correction Sensors for Autonomous Navigation of Different UAV Classes

2020 ◽  
pp. 1-19
Author(s):  
E. I. Starovoytov
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Sensor Data ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Aerial Vehicles ◽  
Atmospheric Path ◽  
Payload Mass ◽  
Laser Gyroscopes

Currently, unmanned aerial vehicles (UAVs) can be used in topographic works, condition monitoring and diagnostics of extended engineering structures, delivering goods to hard-to-reach places, etc. To provide the widespread UAVs applications and raise the number of tasks to be solved through their using, it is necessary to increase their autonomy degree in terms of navigation support, in particular. Unmanned aerial vehicles (UAV) control systems for autonomous navigation use the strap-down inertial navigation systems (SINS) based on various types of gyroscopes. SINS based on the laser gyroscopes, which have a large mass, have the best accuracy. UAVs with a payload mass that is commensurable with the mass of navigation equipment require optimization of SINS characteristics. An optimization method has been developed to enable obtaining a Pareto set for the mass and accuracy of SINS based on laser gyroscopes. A comprehensive assessment of the characteristics of SINS and UAV carrier with different payload mass has been performed. Various SINS correction methods are considered when satellite navigation is unavailable.For overland flights, the correlation-extreme navigation systems (CENS) and SLAM methods (for simultaneous localisation and mapping) can be used. CENS require a reference lay-of-the-land description and a sufficient density of landmarks. In navigation based on SLAM algorithms, there is no need in the reference lay-of-the-land description, and the initial data can be obtained through the optical sensors under appropriate condition of the atmospheric path.Regardless of the condition of the atmospheric path, type of the underlying surface and its information available in detail, the UAV coordinates can be determined by Doppler dead reckoning using a Doppler system (DISS). At low and medium altitudes SINS correction is possible, only heading sensor data are needed to calculate the path angle.In combining with DISS and 3D Flash Ladar sensors (for implementing SLAM algorithms), it is more optimal to use low-accuracy SINS based on fibre-optic gyroscopes rather than laser gyro-based systems.The results obtained can be used when developing navigation systems for medium, light and heavy-medium UAVs.

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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