A New Calibration and Compensation Method for Installation Errors of Accelerometers in Gyroscope Free Strap-down Inertial Navigation System
The navigation accuracy is seriously affected by installation errors of accelerometers in Gyroscope Free Strap-down Inertial Navigation System(GFSINS). So, the installation errors have to be calibrated before used and the output errors of accelerometers must be compensated while GFSINS is on working. In this paper, consider a 12-accelerometer GFSINS constituted with four three-axis accelerometers, a new position error calibration method based on the invariance of a vector module value in different coordinates and a sensitive direction error calibration method based on the principle of coordinate transformation are proposed. And the position errors are calibrated first and then to calibrate the sensitive direction error with a same set of turntable experiment data. Against with the error calibration order, the sensitive direction errors are compensated first and the next is to compensate the position errors. The details of calibration and compensation algorithm are given in this paper. At last, these two algorithms are simulated and the simulation result shows that the calibration and compensation algorithms are useful and could compensate most accelerometersγ output errors caused by installation errors.
Gyroscope Free Accelerometer Installation Errors Calibration Compensation
Zhen Shi Jie Yang Peng Yue Zijian Cheng
College of Automation Harbin Engineering University Harbin 150001 China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）