An iterative optimization method for estimating accelerometer bias based on gravitational apparent motion with...

Field calibration is an important method to guarantee the accuracy of a strapdown inertial navigation system. Zero velocity update based on the zero-velocity constraint when the carrier is without translational motion is a typical system-level calibration method. In zero velocity update, there is a coupling between biases and horizontal misalignment angles. The accuracy of horizontal misalignment angles is determined by the equivalent accelerometer biases in horizontal directions, which means that improving the accuracy of horizontal angles needs accurate calibration of accelerometer biases. Meanwhile, alignment with gravitational apparent motion is widely used taking advantages of its alignment ability in a swinging condition. But it is an analytical method and cannot calibrate sensor biases and is always dealt as a coarse alignment method. In order to calibrate accelerometer biases and utilize advantages of the alignment method with gravitational motion, a method to estimate accelerometer biases based on an iterative optimization method and gravitational apparent motion is presented in this paper. First, accelerometer biases are introduced to calculate apparent acceleration and an objective function is constructed. Then, Newton's iteration is applied to iteratively optimize the parameters describing gravitational apparent motion and accelerometer biases. As revealed by the theoretical analysis and experimental results, different patterns of gravity and accelerometer biases will be generated when the carrier exhibits a swinging motion; thus, the convergence of the proposed algorithm will be ensured. After accelerometer biases are removed, initial alignment performed with the gravitational apparent motion reconstructed by the estimated parameters gives nearly zero horizontal misalignment angles.