TY - GEN
T1 - Online calibration method based on dual-axis rotation-modulating laser gyro SINS
AU - Qin, Chong
AU - Chen, Jiabin
AU - Han, Yongqiang
AU - Song, Chunlei
AU - Wang, Mingjie
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - Traditional calibration methods require a three-axis high precision turntable, which is unable to meet the demands of online calibration. Hence, based on the structural features of dual-axis rotation modulation laser strap-down inertial navigation system, this paper proposes an online calibration method by taking the velocity errors and the position errors as measurement information. In this paper, the error model of inertial navigation system is established, and a 30-dimension Kalman filtering model is derived in which the state variables include the gyro constant error and the gyro scale factor error and the gyro installation error angle, the accelerometer constant error and the accelerometer scale factor error and the accelerometer installation error angle. In order to identify error parameters comprehensively, an appropriate calibration route is designed. According to the route, the simulation shows that all error parameters of laser gyros and accelerometers can be identified and calibrated precisely. This method satisfies the demands of online calibration and has a great engineering significance.
AB - Traditional calibration methods require a three-axis high precision turntable, which is unable to meet the demands of online calibration. Hence, based on the structural features of dual-axis rotation modulation laser strap-down inertial navigation system, this paper proposes an online calibration method by taking the velocity errors and the position errors as measurement information. In this paper, the error model of inertial navigation system is established, and a 30-dimension Kalman filtering model is derived in which the state variables include the gyro constant error and the gyro scale factor error and the gyro installation error angle, the accelerometer constant error and the accelerometer scale factor error and the accelerometer installation error angle. In order to identify error parameters comprehensively, an appropriate calibration route is designed. According to the route, the simulation shows that all error parameters of laser gyros and accelerometers can be identified and calibrated precisely. This method satisfies the demands of online calibration and has a great engineering significance.
KW - Calibration Route
KW - Dual-axis Rotation Modulation
KW - Kalman Filtering
KW - Laser Strap-down Inertial Navigation System
KW - Observability Analysis
KW - Online Calibration
UR - http://www.scopus.com/inward/record.url?scp=84983749026&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2016.7531554
DO - 10.1109/CCDC.2016.7531554
M3 - Conference contribution
AN - SCOPUS:84983749026
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 3311
EP - 3315
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -