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Error Analysis of Accelerometer- and Magnetometer-Based Stationary Alignment.

Felipe O Silva1, Lucas P S Paiva1, Gustavo S Carvalho1

  • 1Department of Automatics, Federal University of Lavras, Lavras 37200-900, Brazil.

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Summary
This summary is machine-generated.

This study analyzes errors in Attitude and Heading Reference Systems (AHRSs) alignment methods. Novel formulas reveal insights into residual errors, improving accuracy comparisons for TRIAD, QUEST, FQA, and ATAN algorithms.

Keywords:
AHRSaccelerometererror analysismagnetometernavigationstationary alignment

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Area of Science:

  • Robotics and Navigation
  • Geophysics and Earth Science

Background:

  • Attitude and Heading Reference Systems (AHRSs) are crucial for navigation.
  • Stationary alignment is a key initialization step for AHRSs.
  • Existing methods for stationary alignment have limitations in error analysis.

Purpose of the Study:

  • To conduct a comprehensive error analysis of prominent stationary attitude determination methods.
  • To develop novel closed-form formulae for residual errors in Direction Cosine Matrices (DCM).
  • To provide analytical insights for comparing alignment algorithm performance and correcting previous conclusions.

Main Methods:

  • Detailed error analysis of TRIAD, QUEST, FQA, and ATAN algorithms.
  • Inclusion of constant biases in accelerometer/magnetometer measurements (hard-iron effect).
  • Consideration of systematic errors in local gravity and Earth magnetic field models.

Main Results:

  • Novel closed-form formulae for normality, orthogonality, and alignment errors in DCM.
  • Analytical comparison of the ultimate accuracy of different alignment formulations.
  • Identification and correction of misleading conclusions from prior research.

Conclusions:

  • The proposed error analysis provides significant analytical insight into stationary AHRS alignment.
  • The developed formulae enable a more accurate comparison of algorithm performance.
  • Validation through simulations and experimental results confirms the analysis adequacy.