Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction

Xing, Li; Hang, Yijun; Xiong, Zhi; Liu, Jianye; Wan, Zhong

doi:10.3390/s16101716

Cited by 8 publications

(8 citation statements)

References 23 publications

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“…In the state equation, the selected states are shown in (1), where [ωx,ωy,ωz] is the fusion angular rate of MEMS IMU-H and MEMS IMU-L, [εxb,εyb,εzb] and [Kgx,Kgy,Kgz] are bias errors and scale factor errors of MEMS Gyro in MEMS IMU-L [19,20]. In the configuration of Figure 1, there are misalignment errors as MEMS IMU-H could not be completely parallel to MEMS IMU-L, and [θgx,θgy,θgz] in Equation (1) denotes the misalignment error angle.…”

Section: Angular Rate Measurement Performance Enhancement Methodsmentioning

confidence: 99%

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Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

Qian

et al. 2019

Micromachines

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Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high-cost and small-range MEMS gyroscope is combined with low-cost and large-range MEMS gyroscopes. Then, an adaptive data fusion method of redundant MEMS gyroscopes is proposed. By the designed experiments based on the simulation data and the sensor measurement data, the proposed method has been proved that it can effectively improve the angular rate measurement performance of the multi-rotor UAV and broaden the angular rate measurement range on the basis of saving the configuration cost and volume of the micro IMU.

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Section: Angular Rate Measurement Performance Enhancement Methodsmentioning

confidence: 99%

“…The gyroscope bias, scale factor error and misalignment error angle of MEMS IMU-L are modeled as the random constant [20,21].…”

Section: Angular Rate Measurement Performance Enhancement Methodsmentioning

confidence: 99%

Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

Qian

et al. 2019

Micromachines

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“…Before the norm analysis referring to the INS error, the definition of the two kinds of norms should be made clear [ 13 ]. If

is a vector, the Euclid norm, or 2-norm, of

.…”

Section: Parameter Self-calibration Methods For Loops In Deeply Coumentioning

confidence: 99%

A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments

Zang

Lai

Liu

et al. 2018

Sensors

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The GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) navigation system has been widely discussed in recent years. Because of the unique INS-aided loop structure, the deeply coupled system performs very well in highly dynamic environments. In practice, vehicle maneuvering has a big influence on the performance of IMUs (Inertial Measurement Unit), and determining whether the selected IMUs and receiver parameters satisfy the loop dynamic requirement is still a critical problem for deeply coupled systems. Aiming at this, a new parameter self-calibration method based on the norm principle is proposed which explains the relationship between IMU precision and the velocity error of the system; the method will also provide a detailed solution to calculate the loop steady-state tracking error, so it will eventually make a judgment about the stability of the tracking loop under present system parameter settings. Lastly, a full digital simulation platform is set up, and the results of simulations show good agreement with the proposed method.

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“…Therefore, there are few references about research on the calibration and compensation of g-sensitivity error in MEMS gyroscopes. In recent years, with the continuous improvement of the performance of MEMS gyroscopes, the bias instability of MEMS gyroscope output has been reduced (the bias instability of some products are a few degrees per hour, or even below one degree per hour), and these high-precision MEMS gyroscopes have reached the tactical standard (Perlmutter and Robin, 2012; Trusov, 2011; Xing et al, 2016). However, although the bias instability indices in some high-precision MEMS gyroscopes are very good, their g-sensitivity error coefficient indices differ by a factor of several tens (Wu et al, 2013; Sensonor, 2015; MuRata, 2015).…”

Section: Introductionmentioning

confidence: 99%

Offline Calibration for MEMS Gyroscope G-sensitivity Error Coefficients Based on the Newton Iteration and Least Square Methods

et al. 2017

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With the improvement of the bias instability of Micro-Electromechanical Systems (MEMS) gyroscopes, the g-sensitivity error is gradually becoming one of the more important factors that affects the dynamic accuracy of a MEMS gyroscope. Hence there is a need for correcting the g-sensitivity error. However, the traditional calibration of g-sensitivity error uses a centrifuge. The calibration conditions are harsh, the process is complex and the cost is relatively high. In this paper, a fast and simple method of g-sensitivity error calibration for MEMS gyroscopes is proposed. With respect to the bias and random noise of a MEMS gyroscope, the g-sensitivity error magnitude is relatively small and it is simultaneously coupled with the Earth's rotation rate. Therefore, in order to correct the g-sensitivity error, this work models the calibration for g-sensitivity error coefficients, designs an (8+N)-position calibration scheme, and then proposes a fitting method for g-sensitivity error coefficients based on the Newton iteration and least squares methods. Multi-group calibration experiments designed on a MEMS Inertial Measurement Unit (MEMS IMU) product demonstrate that the proposed method can calibrate g-sensitivity error coefficients and correct the g-sensitivity error effectively and simply.

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Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction

Cited by 8 publications

References 23 publications

Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments

Offline Calibration for MEMS Gyroscope G-sensitivity Error Coefficients Based on the Newton Iteration and Least Square Methods

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