A Self-Calibration Method for Nonorthogonal Angles Between Gimbals of Rotational Inertial Navigation System

• Published in: IEEE transactions on industrial electronics (1982) Vol. 62; no. 4; pp. 2353 - 2362
• Main Authors: Wang, Bo, Ren, Qian, Deng, Zhihong, Fu, Mengyin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-04-2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accelerometers; Accuracy; Calibration; Equations; extended Kalman filter; Mathematical model; Navigation; non-orthogonal angle; piece-wise constant system; Rotational inertial navigation system; self-calibration; Sensors; Extended Kalman filter (EKF); piecewise constant system (PWCS); nonorthogonal angle; rotational inertial navigation system (INS); self-calibration
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2014.2361671

Navigation accuracy of an inertial navigation system can be significantly enhanced by rotating inertial measurement unit with gimbals. Therefore, nonorthogonal angles of gimbals, which are coupled into the navigation error during rotation, should be calibrated and compensated effectively. In this paper, the relationship model of nonorthogonal angles and navigation error is established. Then, the calibration scheme and observation equation during gimbals rotation is proposed. Proved by a piecewise constant system method, all of the error parameters are observable and can be estimated by an extended Kalman filter. Experimental results show that compared with the traditional method, the proposed method can substantially reduce velocity error on static base. Moreover, the position accuracy of long-term navigation under moving base is also significantly increased.