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.

An Improved Online Fast Self-Calibration Method for Dual-Axis RINS Based on Backtracking Scheme

“…The error equation is the differential equation of the above equations, based on Equations ( 2) and (6). ω I 0 is the gyro bias vector, f I 0 is the accelerometer bias vector.…”

“…Many researchers have studied the INS calibration method [6][7][8][9]. Ren et al proposed a multi-position self-calibration method for dual-axis RINS [10].…”

A New Self-Calibration and Compensation Method for Installation Errors of Uniaxial Rotation Module Inertial Navigation System

“…Therefore, the limitation of the existing approach is that it is difficult to estimate the installation error caused by module replacement under dynamic conditions without external information. For calibrating the SINS’s error in a dynamic environment, a method was proposed to estimate the installation error by using the difference in navigation information output by two sets of SINS installed on the same carrier [ 31 , 32 , 33 ]. Nevertheless, the uniaxial rotation module (URM) consists of only two gyroscopes and two accelerometers, and a single module cannot output navigation information.…”