A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration
Because of the non-orthogonal configuration of multi-sensors, the redundant inertial navigation system (INS) has a more complex error model compared with the traditional orthogonal INS, and the complexity of sensors configuration also increases the difficulty of error separation. Based on sufficient...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/10/1684 |
| _version_ | 1797471230998085632 |
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| author | Chunfeng Gao Guo Wei Lin Wang Qi Wang Zhikun Liao |
| author_facet | Chunfeng Gao Guo Wei Lin Wang Qi Wang Zhikun Liao |
| author_sort | Chunfeng Gao |
| collection | DOAJ |
| description | Because of the non-orthogonal configuration of multi-sensors, the redundant inertial navigation system (INS) has a more complex error model compared with the traditional orthogonal INS, and the complexity of sensors configuration also increases the difficulty of error separation. Based on sufficient analysis of the error principle of redundant IMUs, a generalized high-accuracy calibration modeling method which is suitable for filtering method systematic calibration is summarized in this paper, and it has been applied to an RIMU prototype consisting of four ring laser gyros (RLGs) and four quartz accelerometers. Through the rotational excitation of the three-axis turntable in the laboratory, the high-precision filtering method systematic calibration of the RIMU is achieved, and static navigation and dynamic vehicle test experiments are also carried out. The experimental results reflect that the positioning accuracy can be obviously improved by using this new systematic calibration error model and the validity of this modeling method is also verified. |
| first_indexed | 2024-03-09T19:46:14Z |
| format | Article |
| id | doaj.art-460b3053a28d4bd490e15cfec34972ff |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T19:46:14Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-460b3053a28d4bd490e15cfec34972ff2023-11-24T01:22:43ZengMDPI AGMicromachines2072-666X2022-10-011310168410.3390/mi13101684A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal ConfigurationChunfeng Gao0Guo Wei1Lin Wang2Qi Wang3Zhikun Liao4Department of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, ChinaDepartment of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, ChinaDepartment of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, ChinaDepartment of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, ChinaDepartment of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, ChinaBecause of the non-orthogonal configuration of multi-sensors, the redundant inertial navigation system (INS) has a more complex error model compared with the traditional orthogonal INS, and the complexity of sensors configuration also increases the difficulty of error separation. Based on sufficient analysis of the error principle of redundant IMUs, a generalized high-accuracy calibration modeling method which is suitable for filtering method systematic calibration is summarized in this paper, and it has been applied to an RIMU prototype consisting of four ring laser gyros (RLGs) and four quartz accelerometers. Through the rotational excitation of the three-axis turntable in the laboratory, the high-precision filtering method systematic calibration of the RIMU is achieved, and static navigation and dynamic vehicle test experiments are also carried out. The experimental results reflect that the positioning accuracy can be obviously improved by using this new systematic calibration error model and the validity of this modeling method is also verified.https://www.mdpi.com/2072-666X/13/10/1684redundant sensorscalibrationinertial measurement unitring laser gyroscopesaccelerometersconstant bias |
| spellingShingle | Chunfeng Gao Guo Wei Lin Wang Qi Wang Zhikun Liao A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration Micromachines redundant sensors calibration inertial measurement unit ring laser gyroscopes accelerometers constant bias |
| title | A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration |
| title_full | A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration |
| title_fullStr | A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration |
| title_full_unstemmed | A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration |
| title_short | A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration |
| title_sort | systematic calibration modeling method for redundant ins with multi sensors non orthogonal configuration |
| topic | redundant sensors calibration inertial measurement unit ring laser gyroscopes accelerometers constant bias |
| url | https://www.mdpi.com/2072-666X/13/10/1684 |
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