Volume 5, Number 2 (2020)
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Home > Journals > SCIREA Journal of Electrical Engineering > Archive > Paper Information

IMU error calibration of strapdown inertial navigation system

Volume 5, Issue 2, April 2020    |    PP. 46-61    |PDF (353 K)|    Pub. Date: June 27, 2020
15 Downloads     259 Views  

Author(s)
Wang Jianzhong, Department of Information Engineering,Chongqing Youth Vocational & Technical College, China

Abstract
In view of the accuracy of strapdown inertial navigation system to the turntable, the difficulty of installation leveling and North alignment, as well as the various factors such as temperature rise, temperature change of hardware circuit board and components for a long time, the IMU is proposed to take the reference north angle, roll angle and pitch angle of the three-axis turntable as the reference, the actual movement speed of the system as the observation measurement, and the minimum is adopted Two multiplication fitting system level calibration algorithm, through three axis turntable multi-position static measurement, rotation angle measurement, rapid measurement of 24 parameters such as installation error and orthogonal error of inertial unit, sensor zero deviation, scale factor, etc., the system level calibration time is not more than 2h, and the course and attitude progress is better than 0.012°. This method is not only convenient and simple, but also convenient to improve the system accuracy and rapid batch production.

Keywords
IMU; Zero Bias; Installation Error; Least Square Method; Three Axis Turntable;

Cite this paper
Wang Jianzhong, IMU error calibration of strapdown inertial navigation system, SCIREA Journal of Electrical Engineering. Vol. 5 , No. 2 , 2020 , pp. 46 - 61 .

References

[ 1 ] WANG Jianzhong, “Error Calibration of IMU in Laser Gyro Strapdown Insertial Navigation System[J]”, Piezoelectrics & Acoustooptics , vol.40 no.3:448-453,2018.
[ 2 ] YUAN Z,NASERES. “Tightly-coupled integration of Wi Fi and MEMS sensors on handheld devices for indoor pedestrian navigation”, IEEE sensors journal,vol.16, no.1, pp. 224-234,2016.
[ 3 ] CHANG Le, ZHANG Hong, GAO Zhouzheng, DING Yuxin, ZHONG Quan. “The Application of Zero Update in GNSS/INS Tightly Coupled Integation”, Journal of Geodeay and Geodynamics, vol.36, no.10, pp. 879-883,2016.
[ 4 ] XU Hai, SUN Fuping, LIU Shuai, MIAO Yuewang, SHI Jing. “The Application of Zero-Velocity Update in the GNSS/INSS Integrated Navigation”. GNSS World of China, vol.39, no.4, pp. 43-45,2014.
[ 5 ] Wang Yuntao, Qian Weixing, Xu Hao, Zheng Tingting, Song Tianwei. “Research on Micro Inertial Positioning System Based on Adaptive Zero Velocity Updating”,JOURNAL OF NANJING NORMAL UNIVERSITY( ENGINEERING AND TECHNOLOGY EDITION), vol.17, no.4, pp. 15-19,2017.
[ 6 ] YANG Yucui, Yu Along, Zhu Yanhua. “Research on Zero Velocity Update Technology Applied in Missile Launching Vehicle Based on Kalman Filter”. Electrical Automation, vol.32, no.1, pp. 1-3,2010
[ 7 ] WANG Jianzhong, “Reserarch on Zero Speed Correction of Laser Gyro Strapdown Inertial Navigation System[J]”, Piezoelectrics & Acoustooptics , vol.40 no.4:426-432,2018.

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