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Sensors 2016, 16(12), 2113; doi:10.3390/s16122113

A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications

1
Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
2
School of Civil and Environmental Engineering, UNSW Australia, Sydney 2052, NSW, Australia
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 21 October 2016 / Revised: 5 December 2016 / Accepted: 7 December 2016 / Published: 13 December 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [1964 KB, uploaded 16 December 2016]   |  

Abstract

Based on stochastic modeling of Coriolis vibration gyros by the Allan variance technique, this paper discusses Angle Random Walk (ARW), Rate Random Walk (RRW) and Markov process gyroscope noises which have significant impacts on the North-finding accuracy. A new continuous rotation alignment algorithm for a Coriolis vibration gyroscope Inertial Measurement Unit (IMU) is proposed in this paper, in which the extended observation equations are used for the Kalman filter to enhance the estimation of gyro drift errors, thus improving the north-finding accuracy. Theoretical and numerical comparisons between the proposed algorithm and the traditional ones are presented. The experimental results show that the new continuous rotation alignment algorithm using the extended observation equations in the Kalman filter is more efficient than the traditional two-position alignment method. Using Coriolis vibration gyros with bias instability of 0.1°/h, a north-finding accuracy of 0.1° (1σ) is achieved by the new continuous rotation alignment algorithm, compared with 0.6° (1σ) north-finding accuracy for the two-position alignment and 1° (1σ) for the fixed-position alignment. View Full-Text
Keywords: cost effective north-finding; stochastic modeling; Coriolis vibration gyroscopes; continuous rotation IMU alignment cost effective north-finding; stochastic modeling; Coriolis vibration gyroscopes; continuous rotation IMU alignment
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Li, Y.; Wu, W.; Jiang, Q.; Wang, J. A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications. Sensors 2016, 16, 2113.

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