Improved calibration algorithm for strap-down inertial navigation system

Xuan Xiao; Mengyin Fu; Qingzhe Wang

Improved calibration algorithm for strap-down inertial navigation system

Xuan Xiao^*, Mengyin Fu, Qingzhe Wang

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control Conference, CCC'10
Pages	1436-1440
Number of pages	5
Publication status	Published - 2010
Event	29th Chinese Control Conference, CCC'10 - Beijing, China Duration: 29 Jul 2010 → 31 Jul 2010

Publication series

Name	Proceedings of the 29th Chinese Control Conference, CCC'10

Conference

Conference	29th Chinese Control Conference, CCC'10
Country/Territory	China
City	Beijing
Period	29/07/10 → 31/07/10

Keywords

Rotation scheme
Strap-down inertial navigation
Systematic calibration

Cite this

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title = "Improved calibration algorithm for strap-down inertial navigation system",

abstract = "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.",

keywords = "Rotation scheme, Strap-down inertial navigation, Systematic calibration",

author = "Xuan Xiao and Mengyin Fu and Qingzhe Wang",

year = "2010",

language = "English",

isbn = "9787894631046",

series = "Proceedings of the 29th Chinese Control Conference, CCC'10",

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note = "29th Chinese Control Conference, CCC'10 ; Conference date: 29-07-2010 Through 31-07-2010",

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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

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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 -

Improved calibration algorithm for strap-down inertial navigation system

Abstract

Publication series

Conference

Keywords

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