TY - GEN
T1 - System-Level Calibration Method Considering Nonorthogonal Angles in Dual-Axis Rotational Inertial Navigation System
AU - Lin, Yusen
AU - Miao, Lingjuan
AU - Zhou, Zhiqiang
AU - Ming, Qi
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - In self-calibration process of the dual-axis rotational inertial navigation system, it is usually assumed that the rotation axes are orthogonal to each other. However, in reality, there are nonorthogonal angles between the rotation axes. When rotation mechanism rotates, the nonorthogonal angle will be coupled with the angular movement and cause errors. The error is introduced into the error equation, resulting in reduced calibration accuracy. In order to improve the self-calibration accuracy, we propose a calibration method for the dual-axis rotational inertial navigation system that considers nonorthogonal angles. First, an error model including nonorthogonal angles is established, and then a reasonable rotation scheme is designed through observability analysis, and finally, a system-level calibration method is designed. Simulations show effectiveness of the proposed calibration method. Navigation experiments demonstrate that after compensating calibration results, the velocity errors are reduced by 36% compared with the previous method.
AB - In self-calibration process of the dual-axis rotational inertial navigation system, it is usually assumed that the rotation axes are orthogonal to each other. However, in reality, there are nonorthogonal angles between the rotation axes. When rotation mechanism rotates, the nonorthogonal angle will be coupled with the angular movement and cause errors. The error is introduced into the error equation, resulting in reduced calibration accuracy. In order to improve the self-calibration accuracy, we propose a calibration method for the dual-axis rotational inertial navigation system that considers nonorthogonal angles. First, an error model including nonorthogonal angles is established, and then a reasonable rotation scheme is designed through observability analysis, and finally, a system-level calibration method is designed. Simulations show effectiveness of the proposed calibration method. Navigation experiments demonstrate that after compensating calibration results, the velocity errors are reduced by 36% compared with the previous method.
KW - Kalman filter
KW - Rotational inertial navigation system
KW - observability analysis
KW - self-calibration technology
UR - http://www.scopus.com/inward/record.url?scp=85151144361&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_416
DO - 10.1007/978-981-19-6613-2_416
M3 - Conference contribution
AN - SCOPUS:85151144361
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 4277
EP - 4287
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -