Analytical Formulation of Relationship Between Sensors and Euler Angle Errors for Arbitrary Stationary Alignment...

Area of Science:

• Navigation Systems
• Sensor Fusion
• Geophysics

Background:

• Attitude and Heading Reference Systems (AHRS) are vital for determining sensor orientation in navigation.
• Stationary alignment in AHRS is susceptible to sensor errors, affecting accuracy.
• Existing research lacks detailed analysis of Euler angle errors across diverse sensor orientations.

Purpose of the Study:

• To develop an analytical formulation for Euler angle errors in AHRS based on accelerometer and magnetometer data.
• To investigate the relationship between sensor error factors and Euler angle errors, independent of sensor-navigation frame alignment.
• To provide a method for analyzing the impact of individual sensor errors on overall orientation accuracy.

Main Methods:

• Utilized the Three-Axis Attitude Determination (TRIAD) method for stationary alignment.
• Incorporated sensor error factors including scale, installation, offset, noise, and constant bias.
• Developed a linear equation to model the relationship between sensor errors and Euler angle errors.
• Conducted simulations for both sensor-aligned and sensor-misaligned conditions with varying Euler angles.

Main Results:

• The proposed formulation accurately describes total Euler angle errors.
• The method successfully quantifies partial errors attributed to individual sensor error factors.
• The formulation's validity was confirmed across sensor-aligned and arbitrary Euler angle configurations.

Conclusions:

• The developed analytical formulation provides a comprehensive understanding of Euler angle errors in AHRS.
• This method enables the analytical investigation of individual sensor error impacts on orientation accuracy.
• The findings are applicable to random alignment scenarios in navigation systems.