A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems
Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. Howev...
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| Format: | Article |
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MDPI AG
2018-09-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/9/2947 |
| _version_ | 1828389807233957888 |
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| author | Ming Hua Kui Li Yanhong Lv Qi Wu |
| author_facet | Ming Hua Kui Li Yanhong Lv Qi Wu |
| author_sort | Ming Hua |
| collection | DOAJ |
| description | Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method. |
| first_indexed | 2024-12-10T06:34:08Z |
| format | Article |
| id | doaj.art-757bf3831e254bb3aacb05741245aa89 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T06:34:08Z |
| publishDate | 2018-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-757bf3831e254bb3aacb05741245aa892022-12-22T01:58:59ZengMDPI AGSensors1424-82202018-09-01189294710.3390/s18092947s18092947A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation SystemsMing Hua0Kui Li1Yanhong Lv2Qi Wu3School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaGenerally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.http://www.mdpi.com/1424-8220/18/9/2947output information fusionmisalignment anglesdynamic calibrationinertial navigation system (INS) |
| spellingShingle | Ming Hua Kui Li Yanhong Lv Qi Wu A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems Sensors output information fusion misalignment angles dynamic calibration inertial navigation system (INS) |
| title | A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems |
| title_full | A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems |
| title_fullStr | A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems |
| title_full_unstemmed | A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems |
| title_short | A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems |
| title_sort | dynamic calibration method of installation misalignment angles between two inertial navigation systems |
| topic | output information fusion misalignment angles dynamic calibration inertial navigation system (INS) |
| url | http://www.mdpi.com/1424-8220/18/9/2947 |
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