Paper Info
Title
A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems.
Abstract
Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1 while using the proposed method.
Year
DOI
Venue
2018
10.3390/s18092947
SENSORS
Keywords
Field
DocType
output information fusion,misalignment angles,dynamic calibration,inertial navigation system (INS)
Inertial navigation system,Aerospace engineering,Electronic engineering,Engineering,Calibration
Journal
Volume
Issue
Citations 
18
9.0
0
PageRank 
References 
Authors
0.34
6
4
Name
Order
Citations
PageRank
Ming Hua100.34
Kui Li201.01
Yanhong Lv300.68
Qi Wu43413.36