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Sensors 2018, 18(1), 282; https://doi.org/10.3390/s18010282

Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements

1
School of Automation Science and Electrical Engineering, Beihang University, Beijing 10083, China
2
Department of Mechanical and Aerospace Engineering, University of Missouri, Columbia, MO 65211, USA
*
Author to whom correspondence should be addressed.
Received: 13 December 2017 / Revised: 13 January 2018 / Accepted: 16 January 2018 / Published: 18 January 2018
(This article belongs to the Special Issue Inertial Sensors for Positioning and Navigation)
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Abstract

In order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incremental velocity update is analytically derived in terms of the angular rate and specific force. Next, two-time scale perturbation models of the angular rate and specific force are constructed. The new sculling correction term is derived and a gravitational search optimization method is used to determine the parameters in the two-time scale perturbation models. Finally, the performance of the proposed algorithm is evaluated in a stochastic real sculling environment, which is different from the conventional algorithms simulated in a pure sculling circumstance. A series of test results demonstrate that the new sculling compensation algorithm can achieve balanced real/pseudo sculling correction performance during velocity update with the advantage of less computation load compared with conventional algorithms. View Full-Text
Keywords: sculling error; singular perturbation; two-time scale perturbation model; velocity update; pseudo sculling; inertial measurement sculling error; singular perturbation; two-time scale perturbation model; velocity update; pseudo sculling; inertial measurement
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Wang, L.; Fu, L.; Xin, M. Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements. Sensors 2018, 18, 282.

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