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Micro-electromechanical system (MEMS) gyroscopes have g-sensitivity errors affecting inertial navigation system (INS)/Global Positioning System (GPS) accuracy. This study investigates observability and demonstrates improved attitude accuracy by compensating for these errors.

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Area of Science:

  • Navigation Systems
  • Sensor Technology
  • Control Theory

Background:

  • Micro-electromechanical system (MEMS) gyroscopes exhibit significant g-sensitivity errors in high-dynamic applications.
  • These errors introduce biases, compromising the accuracy of attitude estimation in integrated Inertial Navigation System (INS) and Global Positioning System (GPS) solutions.

Purpose of the Study:

  • To investigate the observability of INS/GPS systems considering g-sensitivity errors.
  • To develop and validate a method for compensating g-sensitivity errors to enhance navigation accuracy.

Main Methods:

  • Augmenting a Kalman filter with g-sensitivity coefficients as estimated states.
  • Analyzing the observability of three and nine elements of the g-sensitivity coefficient matrix.
  • Presenting and validating a global observable condition for the system.

Main Results:

  • Demonstrated that maneuvering based on specific conditions makes estimated states (position, velocity, attitude, biases, g-sensitivity) observable.
  • Experimental results confirmed the successful estimation of g-sensitivity coefficients.
  • Significant improvement in attitude accuracy was observed compared to systems without g-sensitivity compensation.

Conclusions:

  • The observability of INS/GPS systems with g-sensitivity errors can be achieved through appropriate maneuvering.
  • Compensating for g-sensitivity errors significantly enhances the attitude accuracy of integrated navigation systems.
  • The proposed method provides a viable solution for improving the performance of MEMS gyroscopes in dynamic environments.