Fusion of output information from different sets of INS can effectively improve the navigation accuracy and fault tolerance. Hence, vehicles are usually equipped with two or more than two sets of inertial navigation systems (INS). However, due to the misalignment angles, the coordinate axes of different systems are usually not absolutely coincide with each other, which would cause serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between systems. In this study, a mathematical model of misalignment angles between INSs is established, and a fast and highly accurate calibration method for misalignment angles between the two systems is proposed. To verify the validity of the method, a turntable experiment was carried out. Experiment results show when turntable’s X axis swings the biggest attitude difference can be inhibited from 550” peak- peak value to 15” peak#peak value, when turntable’s Y axis swings the biggest attitude difference can be inhibited from 500” peak#peak value to S” peak- peak value, when turntable’s Z axis swings the biggest attitude difference can be inhibited from 1900” peak - peak value to 2” peak- peak value.
The research on calibration technique for misalignment angles between two inertial navigation systems
2018-08-01
329894 byte
Conference paper
Electronic Resource
English
Modification of inertial navigation platform drift model containing gyro misalignment angles
British Library Online Contents | 2002
|Novel Approach for Angles Calibration of Air-Data Systems with Inertial Measurements
AIAA | 2017
|Novel Approach for Angles Calibration of Air-Data Systems with Inertial Measurements
Online Contents | 2017
|Novel Approach for Angles Calibration of Air-Data Systems with Inertial Measurements
Online Contents | 2017
|Wiley | 2016
|