Strapdown inertial navigation system calibration while vertical axis turn around
Lomonosov Moscow State University, 1, Leninskie Gory, Moscow, 119991, Russia
The paper considers the calibration of a strapdown inertial navigation system (SDINS) while the vertical axis turn around. The system measures the location and relative velocities of an object. To implement the parameter estimation the Kalman filter is employed. The turn is required to obtain the estimates of the additive constant errors of the accelerometer unit and angular velocity sensors with sufficient accuracy. The problem is studied in a unified experiment that includes the axis turn around and two static positions of the system during certain time intervals. The main difficulty consists in the presence of the derivative of the angular velocity in the system matrix. In order to overcome this circumstance, the sampling is executed by analytical calculation using the integration by parts. Such approach allows us to exploit all experiment data more fully. In traditional setting, the analysis is partitioned into two independent steps, which are related to the SDINS case positions before and after the turn. Besides, due to the alignment procedure, the initial covariance matrix is not diagonal. A mathematical formalization is presented, the corresponding software is developed, and the results of simulation are described. The obtained results verify the efficiency of the proposed approach. The system accuracy is really improved by the inclusion of the turn into the active part of the calibration experiment.
Keywords:strapdown inertial navigation system, alignment, instrument errors, instrument trihedron, exhibition, Kalman filter
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