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Sensors 2018, 18(9), 2947; https://doi.org/10.3390/s18092947

A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China
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Received: 23 July 2018 / Revised: 25 August 2018 / Accepted: 31 August 2018 / Published: 4 September 2018
(This article belongs to the Section Physical Sensors)
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Abstract

Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method. View Full-Text
Keywords: output information fusion; misalignment angles; dynamic calibration; inertial navigation system (INS) output information fusion; misalignment angles; dynamic calibration; inertial navigation system (INS)
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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. (CC BY 4.0).
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Hua, M.; Li, K.; Lv, Y.; Wu, Q. A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems. Sensors 2018, 18, 2947.

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