Estimation of information sharing error by dynamic deformation between inertial navigation systems

Bo Wang, Zhihong Deng, Cheng Liu, Yuanqing Xia, Mengyin Fu

Research output: Contribution to journalArticlepeer-review

72 Citations (Scopus)

Abstract

Dynamic deformation of a vehicle and relative position of inertial navigation systems will cause large errors during information sharing. Such errors should be estimated and compensated effectively, or it will cause large errors to navigation information output. Therefore, the model between deformation angle and dynamic lever arm is established to verify that the influence is not coaxial but decussate. Then, estimation and compensation methods for deformation angle and dynamic lever arm are proposed with real-time closed-loop correction of the lever-arm length. Simulation results demonstrate that, for the estimation of misalignment angle, the proposed method has a faster convergence than the traditional method. Moreover, the deformation angle and dynamic lever-arm estimation also takes less time with a higher accuracy than the traditional method.

Original languageEnglish
Article number6547989
Pages (from-to)2015-2023
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume61
Issue number4
DOIs
Publication statusPublished - 2014

Keywords

  • Dynamic lever arm
  • flexural deformation
  • inertial navigation system (INS)
  • information sharing

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