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Sensors 2014, 14(9), 16003-16016; doi:10.3390/s140916003
Article

Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors

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Received: 5 June 2014; in revised form: 12 August 2014 / Accepted: 25 August 2014 / Published: 28 August 2014
(This article belongs to the Special Issue Optical Gyroscopes and Navigation Systems)
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Abstract: Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.
Keywords: MEMS INS/GPS integration system; observability analysis; gyro g-sensitivity errors; linear acceleration effect on gyros MEMS INS/GPS integration system; observability analysis; gyro g-sensitivity errors; linear acceleration effect on gyros
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Fan, C.; Hu, X.; He, X.; Tang, K.; Luo, B. Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors. Sensors 2014, 14, 16003-16016.

AMA Style

Fan C, Hu X, He X, Tang K, Luo B. Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors. Sensors. 2014; 14(9):16003-16016.

Chicago/Turabian Style

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing. 2014. "Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors." Sensors 14, no. 9: 16003-16016.



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