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Observability analysis of a MEMS INS/GPS integration system with gyroscope G-sensitivity errors
Chen Fan1, Xiaoping Hu2, Xiaofeng He3
1College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. ff_chenlin@yeah.net.
Sensors (Basel, Switzerland)
|August 30, 2014
Summary
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.
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.
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