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

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 met...

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Detalles Bibliográficos
Autores principales: Liu, Bingqi, Wei, Shihui, Su, Guohua, Wang, Jiping, Lu, Jiazhen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5982544/
https://www.ncbi.nlm.nih.gov/pubmed/29695041
http://dx.doi.org/10.3390/s18051303
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author Liu, Bingqi
Wei, Shihui
Su, Guohua
Wang, Jiping
Lu, Jiazhen
author_facet Liu, Bingqi
Wei, Shihui
Su, Guohua
Wang, Jiping
Lu, Jiazhen
author_sort Liu, Bingqi
collection PubMed
description 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.
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spelling pubmed-59825442018-06-05 An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition Liu, Bingqi Wei, Shihui Su, Guohua Wang, Jiping Lu, Jiazhen Sensors (Basel) Article 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. MDPI 2018-04-24 /pmc/articles/PMC5982544/ /pubmed/29695041 http://dx.doi.org/10.3390/s18051303 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Liu, Bingqi
Wei, Shihui
Su, Guohua
Wang, Jiping
Lu, Jiazhen
An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title_full An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title_fullStr An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title_full_unstemmed An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title_short An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition
title_sort improved fast self-calibration method for hybrid inertial navigation system under stationary condition
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5982544/
https://www.ncbi.nlm.nih.gov/pubmed/29695041
http://dx.doi.org/10.3390/s18051303
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