Dynamic calibration method for SINS lever-arm effect for HCVs

Xiong, Zhi; Peng, Hui; Wang, Jie; Liu, Jianye

doi:10.1109/taes.2015.140048

Cited by 21 publications

(12 citation statements)

References 15 publications

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“…For hypersonic cruise vehicles (HCVs), a highly autonomous and reliable navigation system is needed [ 1 , 2 ]. The inertial navigation system (INS) is one of the most widely used navigation systems [ 3 , 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

A Robust INS/SRS/CNS Integrated Navigation System with the Chi-Square Test-Based Robust Kalman Filter

Gao

Hong

et al. 2020

Sensors

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In order to achieve a highly autonomous and reliable navigation system for aerial vehicles that involves the spectral redshift navigation system (SRS), the inertial navigation (INS)/spectral redshift navigation (SRS)/celestial navigation (CNS) integrated system is designed and the spectral-redshift-based velocity measurement equation in the INS/SRS/CNS system is derived. Furthermore, a new chi-square test-based robust Kalman filter (CSTRKF) is also proposed in order to improve the robustness of the INS/SRS/CNS navigation system. In the CSTRKF, the chi-square test (CST) not only detects measurements with outliers and in non-Gaussian distributions, but also estimates the statistical characteristics of measurement noise. Finally, the results of our simulations indicate that the INS/SRS/CNS integrated navigation system with the CSTRKF possesses strong robustness and high reliability.

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Section: Introductionmentioning

confidence: 99%

A Robust INS/SRS/CNS Integrated Navigation System with the Chi-Square Test-Based Robust Kalman Filter

Gao

Hong

et al. 2020

Sensors

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“…The velocity vector projecting on the inertial frame differences can be used in the angle error between the two frames requiring the angle movement Butterworth filter was designed according to the real acceleration and the leverarm acceleration distributed in the different frequency zones restraining the bad acceleration and compensating the lever arm effect [Chen, Chen and Wu (2017)]. A SINS error model under swaying base was constructed [Xiong, Peng, Wang et al (2015)], analyzing the ship-board weapon self-initialization procedure [Wang, Shen and Ma (2008)] and proposed a new lever-arm compensation method under the base of traditional lever-arm compensation method. The novel method [Chen, Liu, Cheng et al (2017); Fu, Huang, Ren et al (2017)] was proved more accurate and with high precision with simulation experiments.…”

Section: Introductionmentioning

confidence: 99%

Lever Arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment

Wang¹,

Yang²,

Wu³

et al. 2019

Computers, Materials &Amp; Continua

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Transfer alignment is used to initialize SINS (Strapdown Inertial Navigation System) in motion. Lever-arm effect compensation is studied existing in an AUV (Autonomous Underwater Vehicle) before launched from the mother ship. The AUV is equipped with SINS, Doppler Velocity Log, depth sensor and other navigation sensors. The lever arm will cause large error on the transfer alignment between master inertial navigation system and slave inertial navigation system, especially in big ship situations. This paper presents a novel method that can effectively estimate and compensate the flexural lever arm between the main inertial navigation system mounted on the mother ship and the slave inertial navigation system equipped on the AUV. The nonlinear measurement equation of angular rate is derived based on three successive rotations of the body frame of the master inertial navigation system. Nonlinear filter is utilized as the nonlinear estimator for its capability of non-linear approximation. Observability analysis was conducted on the SINS state vector based on singular value decomposition method. State equation of SINS was adopted as the system state equation. Simulation experiments were conducted and results showed that the proposed method can estimate the flexural lever arm more accurately, the precision of transfer alignment was improved and alignment time was shortened accordingly.

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“…In traditional methods, the high-precision turntable is required for calibrating the inner lever-arm errors of SINS [17]. [18] utilized the tri-axis turntable to provide the SINS swaying excitation, through which the inner leverarm errors can be estimated using velocity errors by applying the least square method. Whereas, benefiting from the gimbal structure, the inner lever-arm errors of RINS could be excited by gimbals rotation.…”

Section: Introductionmentioning

confidence: 99%

The Asynchronous Gimbal-Rotation-Based Calibration Method for Lever-Arm Errors of Two Rotational Inertial Navigation Systems

Liu

2019

IEEE Access

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A rotational inertial navigation system (RINS) can enhance the navigation accuracy by modulating the constant inertial device biases with gimbals rotation. To further improve the navigation performance in marine applications, two or more RINSs are usually equipped in the same vessel to achieve the information fusion. However, the lever-arm effect caused by the outer and inner lever-arm errors of two RINSs would decrease the fusion accuracy of velocity and position information. To solve this problem, the asynchronous gimbal-rotation-based calibration method for the outer and inner lever-arm errors of two RINSs is proposed in this paper. The lever-arm error and navigation error models were seriously deduced. Based on system models, the design principles of rotation schemes of two RINSs were analyzed and summarized. The calibration filter with the velocity difference of two RINSs as the mere measurement was constructed. The multiple asynchronous rotation schemes according to the design principles were tested and compared as well as optimized by simulations and experiments. The results indicated that the outer and inner lever-arm errors could be well calibrated and the calibration accuracy could be improved with the optimal rotation schemes. The velocity differences of two RINSs could be significantly restrained, and the fusion accuracy of linear motion information could be obviously improved after the compensation of lever-arm errors, which demonstrated the effectiveness of the proposed calibration method. INDEX TERMS Outer and inner lever-arm errors, calibration method, design principles, asynchronous rotation scheme, rotational inertial navigation system.

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Dynamic calibration method for SINS lever-arm effect for HCVs

Cited by 21 publications

References 15 publications

A Robust INS/SRS/CNS Integrated Navigation System with the Chi-Square Test-Based Robust Kalman Filter

A Robust INS/SRS/CNS Integrated Navigation System with the Chi-Square Test-Based Robust Kalman Filter

Lever Arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment

The Asynchronous Gimbal-Rotation-Based Calibration Method for Lever-Arm Errors of Two Rotational Inertial Navigation Systems

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