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Automatic Estimation of Dynamic Lever Arms for a Position and Orientation System
Qiangwen Fu1, Sihai Li2, Yang Liu3
1School of Automation, Northwestern Polytechnical University, Xi'an 710072, China. fuqiangwen@nwpu.edu.cn.
Sensors (Basel, Switzerland)
|December 6, 2018
Summary
This study introduces an automatic method to estimate dynamic lever arms in inertially stabilized platforms (ISP) using Kalman filtering. This improves surveying efficiency by accurately calibrating the distance between the inertial measurement unit (IMU) and GPS antenna.
Area of Science:
- Geomatics Engineering
- Navigation Systems
- Sensor Fusion
Background:
- Inertially stabilized platforms (ISP) use position and orientation systems (POS) for stable sensor targeting.
- ISP rotation causes time-varying lever arms between IMU and GPS antenna, complicating precise measurements.
Purpose of the Study:
- To develop an automated method for estimating dynamic lever arms in ISPs.
- To improve surveying efficiency and accuracy by eliminating manual lever arm measurement.
Main Methods:
- Utilized ISP encoder data to decompose the variable lever arm into estimable components.
- Implemented a 21-dimensional state Kalman filter for simultaneous navigation and dynamic lever arm calibration.
- Conducted observability analysis and error distribution analysis to validate the method.
Main Results:
- Successfully estimated dynamic lever arms with high accuracy (within [0.0104; 0.0110; 0.0178] m).
- Achieved positioning accuracy equivalent to Carrier-phase Differential GPS (CDGPS).
Conclusions:
- The proposed method offers an efficient and accurate solution for dynamic lever arm calibration in ISPs.
- This advancement is crucial for precise navigation and surveying applications utilizing IMU and GPS integration.
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