A Simultaneously Calibration Approach for Installation and Attitude Errors of an INS/GPS/LDS Target Tracker

Sensors

Jianhua Cheng¹  Daidai Chen¹  Xiangyu Sun¹ 

[1] Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China; E-Mails:

关键词: INS/GPS/LDS;    target tracking;    measurement;    installation error;    calibration;   

DOI  :  10.3390/s150203575

来源: mdpi

【 摘 要 】

To obtain the absolute position of a target is one of the basic topics for non-cooperated target tracking problems. In this paper, we present a simultaneously calibration method for an Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach. The INS/GPS integrated system provides the attitude and position of observer, and LDS offers the distance between the observer and the target. The two most significant errors are taken into jointly consideration and analyzed: (1) the attitude measure error of INS/GPS; (2) the installation error between INS/GPS and LDS subsystems. Consequently, a INS/GPS/LDS based target positioning approach considering these two errors is proposed. In order to improve the performance of this approach, a novel calibration method is designed to simultaneously estimate and compensate these two main errors. Finally, simulations are conducted to access the performance of the proposed target positioning approach and the designed simultaneously calibration method.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.