On GPS/GLONASS/INS Tight Integration for Gimbal and Strapdown Systems of Different Accuracy

Golovan, A. A.; Demidov, O.V.; Vavilova, N. B.

doi:10.3182/20100906-5-jp-2022.00086

Cited by 9 publications

(2 citation statements)

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“…We further consider the behaviour of INS errors over time up to linear terms. We use INS error equations [ 18 ] in the computed geodetic navigation frame y (

). The INS error equations will serve as a dynamic model in the linear estimation problem.…”

Section: Theoretical Backgroundmentioning

confidence: 99%

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Angular Misalignment Calibration for Dual-Antenna GNSS/IMU Navigation Sensor

Kozlov

Kapralov

2022

Sensors

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We address the angular misalignment calibration problem, which arises when a multi-antenna GNSS serves as a source of aiding information for inertial sensors in an integrated navigation system. Antennas usually occupy some outside structure of the moving carrier object, whilst an inertial measurement unit typically remains inside. Especially when using low- or mid-grade MEMS gyroscopes and accelerometers, it is either impossible or impractical to physically align IMU-sensitive axes and GNSS antenna baselines within some 1–3 degrees due to the micromechanical nature of the inertial sensors: they are just too small to have any physical reference features to align to. However, in some applications, it is desirable to line up all sensors within a fraction-of-a-degree level of accuracy. One may imagine solving this problem via the long-term averaging of sensor signals in different positions to ensure observability and then using angle differences for analytical compensation. We suggest faster calibration in special rotations using sensor fusion. Apart from quicker convergence, this method also accounts for run-to-run inertial sensor bias instability. In addition, it allows further on-the-fly finer calibration in the background when the navigation system performs its regular operation, and carrier objects may undergo gradual deformations of its structure over the years.

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“…We further consider the behaviour of INS errors over time up to linear terms. We use INS error equations [ 18 ] in the computed geodetic navigation frame y (

). The INS error equations will serve as a dynamic model in the linear estimation problem.…”

Section: Theoretical Backgroundmentioning

confidence: 99%

“…Thus, introducing INS attitude errors, we follow the ideology of [ 18 ] with slightly different notation. The complexity may seem excessive, but it keeps mathematical rigor in our derivations.…”

Section: Theoretical Backgroundmentioning

confidence: 99%

Angular Misalignment Calibration for Dual-Antenna GNSS/IMU Navigation Sensor

Kozlov

Kapralov

2022

Sensors

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In-flight inertial navigation system alignment under non-controlled delays in aiding data

Golovan

Zheleznov

Smolianov

et al. 2021

J. Phys.: Conf. Ser.

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In the presented paper we consider a well-known in-flight alignment problem for strapdown inertial navigation system (INS) via position and velocity data provided by the reference inertial navigation system. Main challenges of the mentioned problem are displacement of the reference navigation system relative to the navigation system being aligned, mutual misalignment of the relevant body frames, the presence of uncontrolled time delays in the positional and velocity aiding data. We propose in-flight alignment algorithm that was tested based on simulation. Typical vehicle’s trajectories were derived from relevant telemetry data. The results of numerical experiments are also presented.

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