Self-calibration method of the inner lever-arm parameters for a tri-axis RINS

Song, Tianxiao; Li, Kui; Sui, Jie; Liu, Zengjun; Liu, Juncheng

doi:10.1088/1361-6501/aa8758

Cited by 35 publications

(21 citation statements)

References 19 publications

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“…Meanwhile, proper rotation scheme design can help modulate and estimate error parameters of IMU. Taking commercial cost into consideration, triaxis and dual-axis RINSs are more expensive than single-axis [15][16][17][18]. In consequence, single-axis RINS will be mainly discussed in this paper.…”

Section: Introductionmentioning

confidence: 99%

Error Mechanism and Self‐Calibration of Single‐Axis Rotational Inertial Navigation System

Nie

Chen

Luo

et al. 2019

Mathematical Problems in Engineering

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With the rapid development of inertial technology, the rotational inertial system has been widely used for high-accuracy navigation. In addition, the single-axis rotational inertial navigation system is one of the most popular navigation systems due to its low cost. However, the fact which cannot be ignored is that although single axis rotational inertial navigation system can restrain divergence of attitude error, it cannot eliminate velocity error, which is mainly caused by the gyro misalignment and scale factor error related to rotational axis. A novel calibration method established on filter has been proposed. Position, velocity, and attitude are chosen to be the state variables. In order to estimate the gyro errors related to rotational axis, these errors must be included in the state equation. Correspondingly, zero velocity and rate of turntable are chosen to be measured. Simulation has been carried out to verify the correctness of the theory, and the real test has been performed to further demonstrate the validity of the method. By compensating the main error estimated by filter, it can be found that the accumulated errors in velocity and attitude are decreased. So, the precision of navigation is greatly improved with the proposed method.

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Section: Introductionmentioning

confidence: 99%

Error Mechanism and Self‐Calibration of Single‐Axis Rotational Inertial Navigation System

Nie

Chen

Luo

et al. 2019

Mathematical Problems in Engineering

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“…In fact, the lever-arm errors could be excited by the certain angular velocity and angular acceleration, including centripetal acceleration errors and tangential acceleration errors [14]- [16]. In traditional methods, the high-precision turntable is required for calibrating the inner lever-arm errors of SINS [17].…”

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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“…Won et al [ 10 ] and Ye et al [ 11 ] calibrated the accelerometer on the basis that the amplitude of the output vector of the tri-axis accelerometer equals 1 g. Studies [ 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 ] presented several system-level calibration methods specific to the microelectromechanical system (MEMS) inertial measuring unit (IMU), but the calibration accuracy needs to be improved. The methods proposed in references [ 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 ] are appropriate for the rotational INSs, and several novel methods are presented for the hybrid INSs in references [ 31 , 32 ]. Gao et al [ 22 ] used position error and velocity error as the observed quantities to estimate the nonlinear error coefficients.…”

Section: Introductionmentioning

confidence: 99%

A Three-Stage Accelerometer Self-Calibration Technique for Space-Stable Inertial Navigation Systems

Han

et al. 2018

Sensors

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As a specific force sensor, the tri-axis accelerometer is one of the core instruments in an inertial navigation system (INS). During navigation, its measurement error directly induces constant or alternating navigation errors of the same order of magnitude. Moreover, it also affects the estimation accuracy of gyro drift coefficients during the initial alignment and calibration, which will indirectly result in navigation errors accumulating over time. Calibration can effectively improve measurement accuracy of the accelerometer. Device-level calibration can identify all of the parameters in the error model, and the system-level calibration can accurately estimate part of these parameters. Combining the advantages of both the methods and making full use of the precise angulation of the space-stabilized platform, this paper proposes a three-stage accelerometer self-calibration technique that can be implemented directly in the space-stable INS. The device-level calibration is divided into two steps considering the large amount of parameters. The first step is coarse calibration, which identifies parameters except for the nonlinear terms, and the second step is fine calibration, which not only identifies the nonlinear parameters, but also improves the accuracy of the parameters identified in the first step. The follow-on system-level calibration is carried out on part of the parameters using specific force error and attitude error to further improve the calibration accuracy. Simulation result shows that by using the proposed three-stage calibration technique in the space-stable INS, the estimation accuracy of accelerometer error can reach 1×10−6 normalg order of magnitude. Experiment results show that after the three-stage calibration, the accuracy of latitude, longitude, and attitude angles has increased by over 45% and the accuracy of velocity has increased by over 22% during navigation.

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Self-calibration method of the inner lever-arm parameters for a tri-axis RINS

Cited by 35 publications

References 19 publications

Error Mechanism and Self‐Calibration of Single‐Axis Rotational Inertial Navigation System

Error Mechanism and Self‐Calibration of Single‐Axis Rotational Inertial Navigation System

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

A Three-Stage Accelerometer Self-Calibration Technique for Space-Stable Inertial Navigation Systems

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