An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

doi:10.3390/s18051303

Cited by 21 publications

(8 citation statements)

References 22 publications

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“…At present, the mainstream high-precision calibration methods include system-level calibration and modular calibration. System-level calibration carries out an estimation process for the error parameters of inertial devices according to the error propagation characteristics of the inertial navigation system and the navigation error of the inertial navigation system, and it does not require high precision of turntable but high precision of scale [6,7]. Mold calibration reduces the requirements on the accuracy of the test turntable and has broad application prospects [8].…”

Section: Introductionmentioning

confidence: 99%

A Method for Improving the Precision of FOG Scaling Coefficient Calibration Based on the High Precision Turntable

Zhang

Yang

et al. 2023

J. Phys.: Conf. Ser.

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Aiming at the problem that the calibration accuracy of FOG depends on the precision of turntable, the relationship between the rotation excitation mode calibration and system-level calibration of FOG and the precision of turntable is analyzed. Firstly, the error model of fog is given, and the optimal rotation path is designed based on the principle of rotation excitation mode calibration. The rotation excitation mode calibration and system-level calibration simulation are carried out respectively. The comparison results show that when the precision of the turntable is 1”, the scale coefficient error of the rotation excitation mode calibration is about 60% lower than that of the system calibration. Through further simulation, it is found that the scale coefficient error of the gyroscope calibrated with 10 turns of the turntable is about 50% lower than that of the gyroscope calibrated with 5 turns, and the scale coefficient error can be effectively reduced by increasing the number of turns of the turntable. Finally, the actual experiment is carried out, and it is proved that the calibration accuracy of the rotating excitation mode is higher than that of the system level when the precision of the turntable is higher, which has a certain practical significance for improving the precision of the inertial navigation beacon.

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Section: Introductionmentioning

confidence: 99%

A Method for Improving the Precision of FOG Scaling Coefficient Calibration Based on the High Precision Turntable

Zhang

Yang

et al. 2023

J. Phys.: Conf. Ser.

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“…But laboratory calibration methods are very time consuming and costly, therefore such methods are not cost-efficient for MEMS sensors and sometimes calibration cost would be higher than the sensor's price. Moreover, these methods require accurate equipment where the error of these equipment also affects the calibration procedure significantly [20,21]. Furthermore, after calibrating sensors and installing them on the device, they should be calibrated again after a short while due to installation errors and environmental conditions.…”

Section: Introductionmentioning

confidence: 99%

Simplification of calibration of low-cost MEMS accelerometer and its temperature compensation without accurate laboratory equipment

Khankalantary

Ranjbaran

Ebadollahi

2021

Meas. Sci. Technol.

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A nonlinear cost function is defined for field calibration of the accelerometer, using the rule that the norm of the measured vector in a static state is equal to the magnitude of the gravity vector. To solve this cost function, various optimization methods like Newton and Levenberg–Marquardt have been presented in different references. However, these methods are complicated, time-consuming, and require an initial value. This study presents a method that simplifies the cost function and obtains the error coefficients, including bias, scale factor, and non-orthogonality using the linear least-squares method which is simpler and faster than other optimization methods and does not need initial values. Also, the output of the low-cost MEMS accelerometer depends on temperature due to its silicon property. Thus, by finding the dependency of the error coefficients on temperature, they can be compensated. This paper models dependency of error coefficients on temperature using cubic spline interpolation and minimizes the temperature effect. Simulation results of MATLAB and the proposed field calibration method and temperature compensation on the low-cost MPU6050 sensor show its good performance.

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“…Therefore, how to obtain accurate localization information is the core of AGV positioning technology. Inertial navigation system (INS) is an autonomous navigation system which does not depend on external information or radiate energy to the outside world (Liu et al 2018 ). The disadvantage is that the localization error accumulates with the increase of time.…”

Section: Introductionmentioning

confidence: 99%

Tightly INS/UWB Combined Indoor AGV Positioning in LOS/NLOS Environment

Shen

et al. 2020

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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In view of the defects and shortcomings of traditional Automated Guided Vehicle (AGV) robots in the localization mode and working scene, this paper studies the tightly-coupled integrated localization strategy based on inertial navigation system (INS) with ultra wide band (UWB). This paper presents an interactive multi-model (IMM) to solve the influence of non-line-of-sight (NLOS) on positioning accuracy. In IMM framework, two parallel Kalman filter (KF) models are used to filter the measured distance simultaneously, and then IMM distance is obtained by weighted fusion of two KF filtering results. This paper adopts the tightly-coupled combined method, and performs indoor positioning by extending Kalman filter (EKF). Experiments show that the method can effectively suppress the influence of NLOS error and improve the localization accuracy.

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An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

Cited by 21 publications

References 22 publications

A Method for Improving the Precision of FOG Scaling Coefficient Calibration Based on the High Precision Turntable

A Method for Improving the Precision of FOG Scaling Coefficient Calibration Based on the High Precision Turntable

Simplification of calibration of low-cost MEMS accelerometer and its temperature compensation without accurate laboratory equipment

Tightly INS/UWB Combined Indoor AGV Positioning in LOS/NLOS Environment

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