SINS calibration in inertial mode. Combination of velocity and scalar methods

Klimkovich, B. V.

doi:10.1134/s2075108715010071

Cited by 7 publications

(3 citation statements)

References 3 publications

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“…Taking this position as the initial position for resolution measurement, then rotate the outer frame, inner frame, and middle frame of the tri-axial turntable in turn for an angle of γ , α and β. So g XA , g YA and g ZA are expressed as 7, (8) and (9) respectively, which are the general mathematical expression for the resolution measurement.…”

Section: B Mathematical Modelmentioning

confidence: 99%

“…By alternately processing the step of multiple positions and continuous rotation, it suppressed dynamic errors and enhanced system error parameter excitation [7]. Klimkovich put forward a system-level strapdown inertial navigation system (SINS) calibration method using IMU error equation at any rotation rate to estimate gyroscope and accelerometer errors by Kalman filter [8]. Qureshi et al came up with a low-cost IMU calibration method that used gravity signals as a stable reference without external equipment.…”

Section: Introductionmentioning

confidence: 99%

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High Precision Tri-Axial Quartz Flexible Accelerometers Resolution Measurement Method Based on Tri-Axial Turntable

et al. 2020

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Aiming at the high requirements of the experimental equipment for the measurement of high precision quartz flexible accelerometer resolution, the gravity measured by high precision tri-axial accelerometers was subdivided by the tri-axial turntable. Tri-axial quartz flexible accelerometers resolution measurement model was established and general mathematical expression for the resolution measurement was derived. Based on the mathematical expression, the effective angle range that satisfied the measurement condition was given out. Besides, the tri-axial quartz flexible accelerometers resolution measurement process was designed. Within the effective angle range, numerical simulations were performed and the simulation results showed that: the proposed method can theoretically measure tri-axial quartz flexible accelerometers of which the resolution was about 10 −6 g. Then the tri-axial quartz flexible accelerometers resolution repetitive measurement experiments were carried out and the experimental results illustrated that: the difference between the measured value with the theoretical value is within 1µg, which met the requirements for use. In addition, the resolution of tri-axial quartz flexible accelerometers can be measured at one time based on the designed process, demonstrating that the proposed method was valid. INDEX TERMS Tri-axial turntable, tri-axial quartz flexible accelerometers, gravity subdivision, resolution measurement.

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Section: B Mathematical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

High Precision Tri-Axial Quartz Flexible Accelerometers Resolution Measurement Method Based on Tri-Axial Turntable

et al. 2020

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“…Nowadays, strap-down inertial navigation systems (SINSs) have been widely used in the navigation and localization fields of ships, aircraft, submarines, etc [1,2]. As a core component during the calibration process [6][7][8][9]. However, the outputs of inertial sensors may be asynchronous in some practical applications, such as the high dynamic rollover test, where the velocity updating performance will deteriorate [10], so traditional factory calibration algorithms will cause significant calibration errors.…”

Section: Introductionmentioning

confidence: 99%

A time asynchronous parameters calibration method of high-precision FOG-IMU based on a single-axis continuous rotation scheme

Chang¹,

Shiwei²,

Zhang³

et al. 2023

Meas. Sci. Technol.

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There is a time asynchronous problem with the output signals between each inertial sensor in an actual high-precision fiber optic gyro inertial measurement unit (FOG-IMU), which reduces the velocity update accuracy of the strap-down inertial navigation system (SINS) in the actual applications. Firstly, the velocity error formulas are derived in the coordinate navigation system considering three time asynchronous errors between the three-axis accelerometers and gyros. Then an error-state Kalman filter is designed with respect to the time asynchronous parameters measurement model in angular dynamic environments. Afterward, a single-axis continuous rotation scheme is developed to calibrate the time asynchronous parameters. In particular, a simple observability analysis model is proposed to verify the rationality of the calibration scheme. Furthermore, the time asynchronous parameters are calculated effectively based on the proposed indirect calibration scheme. Finally, the proposed method is verified effectively through simulations and turntable experiments, which can significantly reduce the measurement errors of high-precision FOG-IMU. As a result, compared with the traditional direct 3-parameter calibration method, the eastward and northward velocity errors are reduced by 7.01% and 2.48%, respectively.

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Consideration for size effect in SINS calibration

Klimkovich¹,

Tolochko²

2015

Gyroscopy Navig.

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SINS calibration in inertial mode. Combination of velocity and scalar methods

Cited by 7 publications

References 3 publications

High Precision Tri-Axial Quartz Flexible Accelerometers Resolution Measurement Method Based on Tri-Axial Turntable

High Precision Tri-Axial Quartz Flexible Accelerometers Resolution Measurement Method Based on Tri-Axial Turntable

A time asynchronous parameters calibration method of high-precision FOG-IMU based on a single-axis continuous rotation scheme

Consideration for size effect in SINS calibration

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