Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors

Sensors

Chen Fan²  Xiaoping Hu¹  Xiaofeng He²  Kanghua Tang² 

[1] College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China;

关键词: MEMS INS/GPS integration system;    observability analysis;    gyro g-sensitivity errors;    linear acceleration effect on gyros;   

DOI  :  10.3390/s140916003

来源: mdpi

【 摘 要 】

Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.