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.

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 self-calibration method for non-orthogonal angles of gimbals in rotational inertial navigation system based on fiber optic gyro

2017 ◽  
Vol 40 (13) ◽  
pp. 3665-3674 ◽  
Author(s):  
Zengjun Liu ◽  
Lei Wang ◽  
Wei Wang ◽  
Tianxiao Song
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Fiber Optic ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Measurement Unit ◽  
Fiber Optic Gyroscope ◽  
Self Calibration ◽  
Photoelectric Encoder ◽  
Navigation Accuracy

Rotating modulation technique is a mature method that has been widely used in the rotational inertial navigation system (RINS). Tri-axis RINS has three gimbals, and the Inertial Measurement Unit can rotate along three directions to modulate the inertial devices’ errors, so that the navigation accuracy of the system can be greatly improved. However, the outputs of attitudes are easily affected by the non-orthogonal angles of gimbals, which should be accurately calibrated and compensated. In this paper, the effects of the non-orthogonal angles on the attitudes are discussed detailed and simulations based on Matlab are conducted to verify that firstly; then, a self-calibration method based on the outputs of the fiber optic gyroscope and photoelectric encoder is proposed. Experimental results in a real tri-axis RINS show that the attitude outputs accuracy are improved from 150” to less than 10”, which verify the practicability of the calibration method proposed in this paper.

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