|Estimation Technique of Fixed Sensor Errors for SDINS Calibration
Tae-Gyoo Lee and Chang-Ky Sung
International Journal of Control, Automation, and Systems, vol. 2, no. 4, pp.536-541, 2004
Abstract : It is important to estimate and calibrate sensor errors in maintaining the performance level of SDINS. In this study, an estimation technique of fixed sensor errors for SDINS calibration is discussed. First, the fixed errors of gyros and accelerometers, excluding gyro biases are estimated by the navigation information of SDINS in multi-position. The SDINS with RLG includes flexure errors. In this study, the gyros flexures are out of consideration, but the proposed procedure selects certain positions and rotations in order to minimize the influence of flexures. Secondly, the influences of random walks, flexures and orientation errors are verified via numerical simulations. Thirdly, applying the previous estimated errors to SDINS, the estimation of gyro biases is conducted via the additional control signals of close-loop self-alignment. Lastly, the experiments illustrate that the extracted calibration parameters are available for the improvement of SDINS.
Keyword : Fixed sensor errors, flexures, gyro biases, RLG, SDINS calibration.