TY - GEN
T1 - Improved calibration algorithm for strap-down inertial navigation system
AU - Xiao, Xuan
AU - Fu, Mengyin
AU - Wang, Qingzhe
PY - 2010
Y1 - 2010
N2 - A calibration algorithm for a strap-down inertial navigation system (SDINS) is presented in this paper. According to the sensor error models, a systematic calibration model for the laser gyro strap-down inertial navigation system is proposed based on the simplified strap-down inertial navigation system error equation. Then an appropriate scheme of rotation is designed to provide the proper observation of gyro and accelerometer error parameters. The solutions to the observation equations show that all gyro and accelerometer error parameters, except the gyro biases, can be obtained. Alignment experiment on a three axis rate and position table was carried out access the performance of the calibration algorithm. The results indicate that the calibration algorithm is efficient and practical.
AB - A calibration algorithm for a strap-down inertial navigation system (SDINS) is presented in this paper. According to the sensor error models, a systematic calibration model for the laser gyro strap-down inertial navigation system is proposed based on the simplified strap-down inertial navigation system error equation. Then an appropriate scheme of rotation is designed to provide the proper observation of gyro and accelerometer error parameters. The solutions to the observation equations show that all gyro and accelerometer error parameters, except the gyro biases, can be obtained. Alignment experiment on a three axis rate and position table was carried out access the performance of the calibration algorithm. The results indicate that the calibration algorithm is efficient and practical.
KW - Rotation scheme
KW - Strap-down inertial navigation
KW - Systematic calibration
UR - http://www.scopus.com/inward/record.url?scp=78650243029&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78650243029
SN - 9787894631046
T3 - Proceedings of the 29th Chinese Control Conference, CCC'10
SP - 1436
EP - 1440
BT - Proceedings of the 29th Chinese Control Conference, CCC'10
T2 - 29th Chinese Control Conference, CCC'10
Y2 - 29 July 2010 through 31 July 2010
ER -