Infrared and Laser Engineering, Volume. 52, Issue 6, 20230148(2023)
Optimal calibration method for nonorthogonal errors in dual-axis rotational RLG INS
Figures & Tables(14)
Fig. 1. Nonorthogonal angles between IMU frame and inner rotating frame
Fig. 2. Nonorthogonal angles between inner rotating frame and outer rotating frame
Table 1. IMU characteristics
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Characteristics Parameters Gyro drift stability/(°)·h−1 ${ { {0.005} } }$ Gyro stochastic error/(°)·h−1/2 ${ { { 0.000\;5} } }$ Gyro scale factor stability/ppm $2$ Accelerometer bias stability/μg $20$ Sampling frequency/Hz $200$
Table 2. PSO parameters
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PSO parameters Setting value $\omega $ 0.8 ${c_1},{c_2}$ 2, 2 $ {V_{\min }},{V_{\max }} $ −1, 1 N 20 G 150
Table 3. The calibration result of nonorthogonal angles
View tableView in ArticleTable 3. The calibration result of nonorthogonal angles
Angles Value/（°） Angles Value/（°） $ {\theta _x} $ −0.000 279 $ {\eta _x} $ 0.000721 $ {\theta _y} $ −0.000 963 $ {\eta _y} $ −0.000 806 $ {\theta _\textit{z}} $ −0.002 212 $ {\eta _\textit{z}} $ −0.009 205
Table 4. Vehicle attitude RMSE comparison
View tableView in ArticleTable 4. Vehicle attitude RMSE comparison
Methods RMSE/(°) Pitch Roll Yaw Uncompensated 0.202 5 0.077 9 0.926 3 Previous method 0.025 2 0.020 0 0.012 9 Proposed method 0.002 7 0.005 4 0.002 4
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Ding Li, Xudong Yu, Guo Wei, Hui Luo. Optimal calibration method for nonorthogonal errors in dual-axis rotational RLG INS[J]. Infrared and Laser Engineering, 2023, 52(6): 20230148
Paper Information
Category: Photoelectric measurement
Received: Mar. 16, 2023
Accepted: --
Published Online: Jul. 26, 2023
The Author Email: Yu Xudong (wind0909@163.com)
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