Next Article in Journal
Development of a Micro/Nano Probing System Using Double Elastic Mechanisms
Previous Article in Journal
SDN Based End-to-End Inter-Domain Routing Mechanism for Mobility Management and Its Evaluation
Open AccessArticle

Automatic Estimation of Dynamic Lever Arms for a Position and Orientation System

by Qiangwen Fu 1,*, Sihai Li 1, Yang Liu 1, Qi Zhou 2 and Feng Wu 3
1
School of Automation, Northwestern Polytechnical University, Xi’an 710072, China
2
Science and Technology on Aircraft Control Laboratory, FACRI, Xi’an 710065, China
3
Shanghai Aerospace Control Technology Institute, Shanghai 201109, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4230; https://doi.org/10.3390/s18124230
Received: 9 October 2018 / Revised: 18 November 2018 / Accepted: 29 November 2018 / Published: 2 December 2018
(This article belongs to the Section Physical Sensors)
An inertially stabilized platform (ISP) is generally equipped with a position and orientation system (POS) to isolate attitude disturbances and to focus surveying sensors on interesting targets. However, rotation of the ISP will result in a time-varying lever arm between the measuring center of the inertial measurement unit (IMU) and the phase center of the Global Positioning System (GPS) antenna, making it difficult to measure and provide compensation. To avoid the complexity of manual measurement and improve surveying efficiency, we propose an automatic estimation method for the dynamic lever arm. With the aid of the ISP encoder data, we decompose the variable lever arm into two constant lever arms to be estimated on line. With a complete 21-dimensional state Kalman filter, we accurately and simultaneously accomplish navigation and dynamic lever arm calibration. Our observability analysis provides a valuable insight into the conditions under which the lever arms can be estimated, and we use the error distribution method to reveal which error sources are the most influential. The simulation results demonstrate that the dynamic lever arm can be estimated to within [0.0104; 0.0110; 0.0178] m, an accuracy that is equivalent to the positioning accuracy of Carrier-phase Differential GPS (CDGPS). View Full-Text
Keywords: position and orientation system (POS); lever arms; Kalman filter; error distributions position and orientation system (POS); lever arms; Kalman filter; error distributions
Show Figures

Figure 1

MDPI and ACS Style

Fu, Q.; Li, S.; Liu, Y.; Zhou, Q.; Wu, F. Automatic Estimation of Dynamic Lever Arms for a Position and Orientation System. Sensors 2018, 18, 4230.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop