A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration

Gao, Chunfeng; Wei, Guo; Wang, Lin; Wang, Qi; Liao, Zhikun

doi:10.3390/mi13101684

Open AccessArticle

A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration

by

Chunfeng Gao

,

Guo Wei

^*,

Lin Wang

,

Qi Wang

and

Zhikun Liao

Department of Optoelectronic Engineering, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China

^*

Author to whom correspondence should be addressed.

Micromachines 2022, 13(10), 1684; https://doi.org/10.3390/mi13101684

Submission received: 17 September 2022 / Revised: 28 September 2022 / Accepted: 29 September 2022 / Published: 7 October 2022

(This article belongs to the Special Issue Machine-Learning-Assisted Sensors)

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Abstract

Because of the non-orthogonal configuration of multi-sensors, the redundant inertial navigation system (INS) has a more complex error model compared with the traditional orthogonal INS, and the complexity of sensors configuration also increases the difficulty of error separation. Based on sufficient analysis of the error principle of redundant IMUs, a generalized high-accuracy calibration modeling method which is suitable for filtering method systematic calibration is summarized in this paper, and it has been applied to an RIMU prototype consisting of four ring laser gyros (RLGs) and four quartz accelerometers. Through the rotational excitation of the three-axis turntable in the laboratory, the high-precision filtering method systematic calibration of the RIMU is achieved, and static navigation and dynamic vehicle test experiments are also carried out. The experimental results reflect that the positioning accuracy can be obviously improved by using this new systematic calibration error model and the validity of this modeling method is also verified.

Keywords: redundant sensors; calibration; inertial measurement unit; ring laser gyroscopes; accelerometers; constant bias; scale factor error; installation error

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MDPI and ACS Style

Gao, C.; Wei, G.; Wang, L.; Wang, Q.; Liao, Z. A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration. Micromachines 2022, 13, 1684. https://doi.org/10.3390/mi13101684

AMA Style

Gao C, Wei G, Wang L, Wang Q, Liao Z. A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration. Micromachines. 2022; 13(10):1684. https://doi.org/10.3390/mi13101684

Chicago/Turabian Style

Gao, Chunfeng, Guo Wei, Lin Wang, Qi Wang, and Zhikun Liao. 2022. "A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration" Micromachines 13, no. 10: 1684. https://doi.org/10.3390/mi13101684

APA Style

Gao, C., Wei, G., Wang, L., Wang, Q., & Liao, Z. (2022). A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration. Micromachines, 13(10), 1684. https://doi.org/10.3390/mi13101684

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A Systematic Calibration Modeling Method for Redundant INS with Multi-Sensors Non-Orthogonal Configuration

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