Rapid Initial Alignment and Calibration for On-board Inertial Navigator

摘要：

To settle rapid initial alignment and calibration for on-board inertial navigator on stationary base, a two-position approach is proposed. Firstly, an alignment model with calculated velocity is addressed based on multiple experiments, after coarse alignment was implemented. Secondly, an adaptive Kalman Filter, which taking velocity errors as measurement vector, is adopted to estimate the state vector such as misalignment angles, constant drifts/biases of inertial device. Finally, six tests have been made on the single-axis turntable. The result of the test indicates that during 400s alignment, the tilt errors are declined to no more than 0.03°, and the azimuth error is declined to less than 0.7°. Furthermore, the constant drifts/biases of inertial device on horizontal axes are also estimated, which is beneficial to promote the navigation accuracy.

关键词： inertial navigator two-position alignment calibration adaptive Kalman filter

作者: Gannan Yuan Haibo Liang Kunpeng He Yanjun Xie

作者单位: College of Automation Harbin Engineering University Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）