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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    The research on calibration technique for misalignment angles between two inertial navigation systems


    Contributors:
    Hua, Ming (author) / Lv, Yan Hong (author) / Wu, Qi (author)


    Publication date :

    2018-08-01


    Size :

    329894 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Modification of inertial navigation platform drift model containing gyro misalignment angles

    Fu, Z.-x. / Shao, C.-s. / Deng, Z.-l. | British Library Online Contents | 2002





    Inertial Navigation Systems

    Braasch, Michael S. | Wiley | 2016