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A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems.

Ming Hua1, Kui Li2, Yanhong Lv3

  • 1School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China. huaming@buaa.edu.cn.

Sensors (Basel, Switzerland)
|September 6, 2018
PubMed
Summary

This study introduces a dynamic calibration method for misalignment angles in multiple inertial navigation systems (INSs). The technique accurately calibrates INS misalignment without external equipment, enhancing autonomous navigation reliability.

Keywords:
dynamic calibrationinertial navigation system (INS)misalignment anglesoutput information fusion

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Area of Science:

  • Navigation Systems Engineering
  • Geomatics Engineering
  • Control Systems Theory

Background:

  • Vehicles commonly use multiple Inertial Navigation Systems (INSs) for enhanced navigation reliability.
  • Integrating data from multiple INSs improves autonomous navigation accuracy.
  • Misalignment angles between INS coordinate systems degrade attitude information integration.

Purpose of the Study:

  • To develop a dynamic calibration method for precisely determining misalignment angles between two INSs.
  • To enable accurate compensation of misalignment errors without external calibration equipment.

Main Methods:

  • A mathematical model for misalignment angles between two INSs was established.
  • The method utilizes speed and attitude data from two INSs during vehicle movement.
  • Dynamic calibration is performed without requiring additional sensors or turntables.

Main Results:

  • The proposed dynamic calibration method was validated through simulation and vehicle experiments.
  • The calibration accuracy for misalignment angles between the two INS sets achieved 1 arcsecond.
  • The method effectively addresses coordinate axis discrepancies in multi-INS configurations.

Conclusions:

  • The dynamic calibration method offers a precise and efficient solution for INS misalignment.
  • This technique enhances the reliability and accuracy of autonomous navigation systems.
  • The findings are significant for applications requiring high-precision navigation in vehicles.