A Positioning Accuracy Improvement Method by Couple RINSs Information Fusion

Sun, Chenyan; Li, Kui

doi:10.1109/jsen.2021.3090068

Cited by 4 publications

(1 citation statement)

References 17 publications

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“…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.…”

Section: Introductionmentioning

confidence: 99%

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

Niu

Sun

et al. 2022

Sensors

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Calibration and compensation techniques are essential to improve the accuracy of the strap-down inertial navigation system. Especially for the new uniaxial rotation module inertial navigation system (URMINS), replacing faulty uniaxial rotation modules introduces installation errors between modules and reduces navigation accuracy. Therefore, it is necessary to calibrate these systems effectively and compensate for the installation error between modules. This paper proposes a new self-calibration and compensation method for installation errors without additional information and equipment. Using the attitude, velocity, and position differences between the two sets of navigation information output from URMINS as measurements, a Kalman filter is constructed and the installation error is estimated. After URMINS is compensated for the installation error, the average of the demodulated redundant information is taken to calculate the carrier’s navigation information. The simulation results show that the proposed method can effectively assess the installation error between modules with an estimation accuracy better than 5”. Experimental results for static navigation show that the accuracy of heading angle and positioning can be improved by 73.12% and 81.19% after the URMINS has compensated for the estimated installation errors. Simulation and experimental results further validate the effectiveness of the proposed self-calibration and compensation method.

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Section: Introductionmentioning

confidence: 99%