Accurate estimation of lever arm in SINS/GPS integration by smoothing methods

Ma, Yanhai; Fang, Jiancheng; Li, Jianli

doi:10.1016/j.measurement.2013.10.020

Cited by 12 publications

(13 citation statements)

References 14 publications

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“…where ϑ x , ϑ y , and ϑ z are the three rotary Euler angles from the b frame to the s frame in turn along the x, y, and z axes. Further, the heading, pitch, and roll of the remote sensing load can be calculated according to (14). Remark 1.…”

Section: International Journal Of Aerospace Engineeringmentioning

confidence: 99%

“…In [13], both numerical and experimental studies on the estimation of the lever arm are presented. Based on the observability analysis, the estimation precision in different stages has been analyzed in [14], and smoothing methods including Rauch-Tung-Striebel smoother and two-filter smoother are developed for precise lever arm estimation. Besides, the lever arm between the IMU and odometer is also taken into account for the land-vehicle navigation system in [15].…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

Fang

Gong

et al. 2018

International Journal of Aerospace Engineering

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The position and orientation system (POS) is widely applied in airborne Earth observation, which integrates the strapdown inertial navigation system (SINS) and global positioning system (GPS) to provide high-accuracy position, velocity, and attitude information for remote sensing motion compensation. However, for keeping the appointed direction of remote sensing load, the inertial measurement unit (IMU) and remote sensing load will be driven to sweep by the servo machine. The lever arms among IMU, GPS, and remote sensing load will be time varying, and their influence on the measurement accuracy of POS is serious. To solve the problem, a dynamic lever arm error compensation method is proposed, which contains the first-level lever arm error compensations between IMU and GPS and the second-level lever arm error compensation between POS and remote sensing load. The flight experiment results show that the proposed method can effectively compensate the dynamic lever arm error and achieve high measurement accuracy for POS.

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Section: International Journal Of Aerospace Engineeringmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

Fang

Gong

et al. 2018

International Journal of Aerospace Engineering

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“…Airborne POS applied in aerial remote sensing system contains three types of sensor, GNSS, IMU, and imaging sensor with some lever arms among them. It can be called multilevel rigid lever arm, generally [28].…”

Section: Lever Arm Error Modeling and Compensationmentioning

confidence: 99%

Airborne Position and Orientation System for Aerial Remote Sensing

Fang

et al. 2017

International Journal of Aerospace Engineering

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The airborne Position Orientation System (POS) can accurately measure space-time reference information and plays a vital role in aerial remote sensing system. It may be applied in a direct georeference system for optical camera and a motion imaging system for Synthetic Aperture Radar (SAR), which further advances efficiency and quality of imaging sensors. In this paper, the operation principle and components of airborne POS are introduced. Some key technologies of airborne POS are summarized. They include the error calibration and compensation, initial alignment, lever arm error modeling, time synchronization, and integrated estimation method. A high precision airborne POS has been developed and applied to a variety of aerial remote sensing systems.

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“…In order to overcome this disadvantage, the rotation angular speed is increased to 30°/s to make the rotation last less time, which means that the motor needs a larger angular acceleration and rotation angular speed. In this way, the existing angular velocity and angular acceleration will affect the velocity error due to the lever arm [ 27 ].…”

Section: Analysis Of the Velocity Accuracymentioning

confidence: 99%

An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System

Zhang

Wang

Liu

et al. 2015

Sensors

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Rotation modulation is an effective method to enhance the accuracy of an inertial navigation system (INS) by modulating the gyroscope drifts and accelerometer bias errors into periodically varying components. The typical RINS drives the inertial measurement unit (IMU) rotation along the vertical axis and the horizontal sensors’ errors are modulated, however, the azimuth angle error is closely related to vertical gyro drift, and the vertical gyro drift also should be modulated effectively. In this paper, a new rotation strategy in a dual-axis rotational INS (RINS) is proposed and the drifts of three gyros could be modulated, respectively. Experimental results from a real dual-axis RINS demonstrate that the maximum azimuth angle error is decreased from 0.04° to less than 0.01° during 1 h. Most importantly, the changing of rotation strategy leads to some additional errors in the velocity which is unacceptable in a high-precision INS. Then the paper studies the basic reason underlying horizontal velocity errors in detail and a relevant new calibration method is designed. Experimental results show that after calibration and compensation, the fluctuation and stages in the velocity curve disappear and velocity precision is improved.

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Accurate estimation of lever arm in SINS/GPS integration by smoothing methods

Cited by 12 publications

References 14 publications

Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

Airborne Position and Orientation System for Aerial Remote Sensing

An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System

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