Estimation of Information Sharing Error by Dynamic Deformation Between Inertial Navigation Systems

• Published in: IEEE transactions on industrial electronics (1982) Vol. 61; no. 4; pp. 2015 - 2023
• Main Authors: Wang, Bo, Deng, Zhihong, Liu, Cheng, Xia, Yuanqing, Fu, Mengyin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-04-2014; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Dynamic lever arm; flexural deformation; inertial navigation system (INS); information sharing
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2013.2271595

Dynamic deformation of a vehicle and relative position of inertial navigation systems will cause large errors during information sharing. Such errors should be estimated and compensated effectively, or it will cause large errors to navigation information output. Therefore, the model between deformation angle and dynamic lever arm is established to verify that the influence is not coaxial but decussate. Then, estimation and compensation methods for deformation angle and dynamic lever arm are proposed with real-time closed-loop correction of the lever-arm length. Simulation results demonstrate that, for the estimation of misalignment angle, the proposed method has a faster convergence than the traditional method. Moreover, the deformation angle and dynamic lever-arm estimation also takes less time with a higher accuracy than the traditional method.