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Angular Misalignment Calibration for Dual-Antenna GNSS/IMU Navigation Sensor.

Alexander Kozlov1, Fedor Kapralov1

  • 1Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, 119991 Moscow, Russia.

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Summary
This summary is machine-generated.

This study presents a faster method for calibrating angular misalignment in integrated navigation systems. It uses sensor fusion during special rotations for improved accuracy and stability.

Keywords:
angular misalignmentcalibrationinertial sensorsmulti-antenna GNSS

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Area of Science:

  • Navigation Systems Engineering
  • Sensor Fusion Technology
  • Mechatronics

Background:

  • Angular misalignment between Global Navigation Satellite System (GNSS) antennas and inertial measurement units (IMUs) is a critical issue in integrated navigation.
  • Physical alignment of low- to mid-grade MEMS sensors is often impractical due to their small size and lack of reference features.
  • High-accuracy alignment (fraction-of-a-degree) is desirable for specific navigation applications.

Purpose of the Study:

  • To develop a faster and more robust method for angular misalignment calibration in GNSS-IMU integrated systems.
  • To address the limitations of traditional long-term averaging calibration techniques.
  • To enable on-the-fly calibration and compensate for sensor bias instability and structural deformations.

Main Methods:

  • Proposes a novel calibration approach utilizing sensor fusion during controlled rotations.
  • Leverages the observability gained from specific rotational maneuvers.
  • Integrates analytical compensation based on angle differences derived from fused sensor data.

Main Results:

  • Achieves significantly faster convergence compared to traditional methods.
  • Effectively accounts for run-to-run variations in inertial sensor bias.
  • Enables continuous, on-the-fly fine-tuning of alignment during normal system operation.

Conclusions:

  • The proposed sensor fusion method offers a superior solution for angular misalignment calibration in GNSS-IMU systems.
  • This approach enhances navigation accuracy and system robustness by addressing sensor limitations and dynamic environmental factors.
  • Facilitates practical implementation of high-precision integrated navigation solutions.