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Self-Calibration of Tri-Axis Rotational Inertial Navigation System Based on Virtual Platform.
- Source :
-
IEEE Transactions on Instrumentation & Measurement . 2021, Vol. 70, p1-10. 10p. - Publication Year :
- 2021
-
Abstract
- There exist two structures of tri-axis rotational inertial navigation systems (TRINSs), namely, the outer-azimuth and inner-azimuth systems. Accurate calibration is one of the key endeavors toward high-precision TRINS. Regarding the TRINS calibration, there is a strict requirement of the navigation platform definition for the rotation excitation sequence. It means that one rotation excitation sequence cannot be applied to both outer-azimuth and inner-azimuth TRINSs. In this article, a virtual platform is constructed that is different from the usual navigation platform, the virtual platform is obtained by performing specific orthogonal transformation according to the requirements of the application scenario: one is to perform an orthogonal transformation on the $g$ -frame and $a$ -frame, and the other is to perform an orthogonal transformation on the $p$ -frame. Based on the self-calibration rotation excitation sequence of the inner-azimuth TRINS, the Kalman filtering is employed to estimate the error parameters in the virtual platform that are then used to calibrate the outer-azimuth TRINS. Real tests with an outer-azimuth TRINS show that the proposed calibration method achieves the scale-factor accuracy of 0.51 ppm and installation accuracy of $0.11''$ for gyroscopes, and the scale-factor accuracy of 1.56 ppm, and the installation accuracy of $0.17''$ for accelerometers, the proposed method can improve the observability of self-calibration. [ABSTRACT FROM AUTHOR]
- Subjects :
- *INERTIAL navigation systems
*KALMAN filtering
Subjects
Details
- Language :
- English
- ISSN :
- 00189456
- Volume :
- 70
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Instrumentation & Measurement
- Publication Type :
- Academic Journal
- Accession number :
- 170415815
- Full Text :
- https://doi.org/10.1109/TIM.2021.3112788