An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

Sensors

Bingqi Liu¹  Jiping Wang²  Guohua Su²  Shihui Wei²  Jiazhen Lu² 

[1] High-Tech Institute of Xi’an, Xi’an 710025, China;The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;

关键词: hybrid inertial navigation;    self-calibration;    error models;    error parameters;   

DOI  :  10.3390/s18051303

来源: DOAJ

【 摘 要 】

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

【 授权许可】

Unknown