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Sensors 2015, 15(2), 3575-3592;

A Simultaneously Calibration Approach for Installation and Attitude Errors of an INS/GPS/LDS Target Tracker

Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China
Department of Biomedical Engineering and Computational Science, School of Science, Aalto University, Espoo 02150, Finland
Author to whom correspondence should be addressed.
Received: 23 October 2014 / Revised: 28 January 2015 / Accepted: 30 January 2015 / Published: 4 February 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
Full-Text   |   PDF [670 KB, uploaded 4 February 2015]


To obtain the absolute position of a target is one of the basic topics for non-cooperated target tracking problems. In this paper, we present a simultaneously calibration method for an Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach. The INS/GPS integrated system provides the attitude and position of observer, and LDS offers the distance between the observer and the target. The two most significant errors are taken into jointly consideration and analyzed: (1) the attitude measure error of INS/GPS; (2) the installation error between INS/GPS and LDS subsystems. Consequently, a INS/GPS/LDS based target positioning approach considering these two errors is proposed. In order to improve the performance of this approach, a novel calibration method is designed to simultaneously estimate and compensate these two main errors. Finally, simulations are conducted to access the performance of the proposed target positioning approach and the designed simultaneously calibration method. View Full-Text
Keywords: INS/GPS/LDS; target tracking; measurement; installation error; calibration INS/GPS/LDS; target tracking; measurement; installation error; calibration
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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Cheng, J.; Chen, D.; Sun, X.; Wang, T. A Simultaneously Calibration Approach for Installation and Attitude Errors of an INS/GPS/LDS Target Tracker. Sensors 2015, 15, 3575-3592.

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