Search Results (3)

In order to ensure that dual-axis rotational inertial navigation systems (RINSs) maintain a high level of accuracy over the long term, there is a demand for periodic calibration during their service life. Traditional calibration methods for inertial measurement units (IMUs) involve removing the IMU from the equipment, which is a laborious and time-consuming process. Reinstalling the IMU after calibration may introduce new installation errors. This paper focuses on dual-axis rotational inertial navigation systems and presents a system-level self-calibration method based on invariant errors, enabling high-precision automated calibration without the need for equipment disassembly. First, navigation parameter errors in the inertial frame are expressed as invariant errors. This allows the corresponding error models to estimate initial attitude even more rapidly and accurately in cases of extreme misalignment, eliminating the need for coarse alignment. Next, by utilizing the output of a gimbal mechanism, angular velocity constraint equations are established, and the backtracking navigation is introduced to reuse sensor data, thereby reducing the calibration time. Finally, a rotation scheme for the IMU is designed to ensure that all errors are observable. The observability of the system is analyzed based on a piecewise constant system method and singular value decomposition (SVD) observability analysis. The simulation and experimental results demonstrate that this method can effectively estimate IMU errors and installation errors related to the rotation axis within 12 min, and the estimated error is less than 4%. After using this method to compensate for the calibration error, the velocity and position accuracies of a RINS are significantly improved. Full article

Temperature measurement is essential in industries. The advantages of resistance temperature detectors (RTDs) are high sensitivity, repeatability, and long-term stability. The measurement performance of this thermometer is of concern. The connection between RTDs and a novel microprocessor system provides a new method to improve the performance of RTDs. In this study, the adequate piecewise sections and the order of polynomial calibration equations were evaluated. Systematic errors were found when the relationship between temperature and resistance for PT-1000 data was expressed using the inverse Callendar-Van Dusen equation. The accuracy of these calibration equations can be improved significantly with two piecewise equations in different temperature ranges. Two datasets of the resistance of PT-1000 sensors in the range from 0 °C to 50 °C were measured. The first dataset was used to establish adequate calibration equations with regression analysis. In the second dataset, the prediction temperatures were calculated by these previously established calibration equations. The difference between prediction temperatures and the standard temperature was used as a criterion to evaluate the prediction performance. The accuracy and precision of PT-1000 sensors could be improved significantly with adequate calibration equations. The accuracy and precision were 0.027 °C and 0.126 °C, respectively. The technique developed in this study could be used for other RTD sensors and/or different temperature ranges. Full article

Ground-penetrating radar (GPR) is a convenient geophysical technique for active-layer soil moisture detection in permafrost regions, which is theoretically based on the petrophysical relationship between soil moisture (θ) and the soil dielectric constant (ε). The θ–ε relationship varies with soil type and thus must be calibrated for a specific region or soil type. At present, there is lack of such a relationship for active-layer soil moisture estimation for the Qinghai–Tibet plateau permafrost regions. In this paper, we utilize the Complex Refractive Index Model to establish such a calibration equation that is suitable for active-layer soil moisture estimation with GPR velocity. Based on the relationship between liquid water, temperature, and salinity, the soil water dielectric constant was determined, which varied from 84 to 88, with an average value of 86 within the active layer for our research regions. Based on the calculated soil-water dielectric constant variation range, and the exponent value range within the Complex Refractive Index Model, the exponent value was determined as 0.26 with our field-investigated active-layer soil moisture and dielectric data set. By neglecting the influence of the soil matrix dielectric constant and soil porosity variations on soil moisture estimation at the regional scale, a simple active-layer soil moisture calibration curve, named CRIM, which is suitable for the Qinghai–Tibet plateau permafrost regions, was established. The main shortage of the CRIM calibration equation is that its calculated soil-moisture error will gradually increase with a decreasing GPR velocity and an increasing GPR velocity interpretation error. To avoid this shortage, a direct linear fitting calibration equation, named as υ-fitting, was acquired based on the statistical relationship between the active-layer soil moisture and GPR velocity with our field-investigated data set. When the GPR velocity interpretation error is within ±0.004 m/ns, the maximum moisture error calculated by CRIM is within 0.08 m³/m³. While when the GPR velocity interpretation error is larger than ±0.004 m/ns, a piecewise formula calculation method, combined with the υ-fitting equation when the GPR velocity is lower than 0.07 m/ns and the CRIM equation when the GPR velocity is larger than 0.07 m/ns, was recommended for the active-layer moisture estimation with GPR detection in the Qinghai–Tibet plateau permafrost regions. Full article