SINS/CNS fast calibration method based on global observability analysis

Fig. 2. (a) x-axis installation error estimation curve; (b) y-axis installation error estimation curve; (c) z-axis installation error estimation curve

Download full size

View in Article

Fig. 3. (a) x-axis gyro constant drift estimation curve; (b) y-axis gyro constant drift estimation curve; (c) z-axis gyro constant drift estimation curve

Download full size

View in Article

Fig. 4. (a) x-axis accelerometer zero deviation estimation curve; (b) y-axis accelerometer zero deviation estimation curve; (c) z-axis accelerometer zero deviation estimation curve

Download full size

View in Article

Fig. 5. Observability curve of attitude error

Download full size

View in Article

Fig. 6. Observability curve of installation error

Download full size

View in Article

Fig. 7. Observability curve of constant drift of gyro

Download full size

View in Article

Fig. 8. Observability curve of accelerometer zero deviation

Download full size

View in Article

Table 1. Error parameter settings

View table

View in Article

Table 1. Error parameter settings

Error states	Group 1	Group 4	Group 5
Initial misalignment angles/(°)	(0.01 0.01 0.05)
Gyro bias/(°)·h−1	0.01	0.003	0.01
Angular random walk coefficient/(°)·h−1	0.005	0.0005	0.005
Accelerometer bias / ${\text{μg} }$	50	50	50
Speed random walk coefficient $/{\text{μg} } \cdot \sqrt {\text{s} }$	10	10	10
Star sensor accuracy/(″)(3σ)	3	3	15
Installation error/(′)	(10 10 20 )

Table 2. Statistical characteristic quantities of state quantity estimation residuals

View table

View in Article

Table 2. Statistical characteristic quantities of state quantity estimation residuals

Group	Feature amount	$ {\alpha _x}/('') $	$ {\alpha _y}/('') $	$ {\alpha _z}/('') $	$ {\varepsilon _x} $/(°)·h⁻¹	${\varepsilon _y}$/(°)·h⁻¹	${\varepsilon _z}$/(°)·h⁻¹	${\nabla _x}{\text{/μg} }$	${\nabla _y}{\text{/μg} }$	${\nabla _z}{\text{/μg} }$
1	Mean	−0.27	0.23	−0.28	−0.0001	−0.0003	0.0002	0.25	0.22	0.11
1	Standard deviation	0.45	0.30	0.51	0.0014	0.0014	0.0018	0.28	0.83	0.21
2	Mean	0.35	0.39	0.37	−0.0006	0.0005	−0.0006	0.26	−0.23	0.16
2	Standard deviation	0.63	0.73	0.75	0.0015	0.0017	0.0021	0.28	0.88	0.25
3	Mean	0.32	0.49	−193.5	−0.0010	−0.0009	−0.0013	0.30	−0.14	0.25
3	Standard deviation	0.53	0.91	216.5	0.0024	0.0016	0.0038	0.29	0.68	0.47
4	Mean	0.17	0.21	−0.31	−0.0005	−0.0002	−0.0004	0.15	−0.16	−0.12
4	Standard deviation	0.43	0.32	0.49	0.0017	0.0024	0.0016	0.34	0.56	0.23
5	Mean	0.58	0.65	−0.52	−0.0002	0.0004	−0.0005	0.17	0.18	0.17
5	Standard deviation	0.72	1.21	1.13	0.0012	0.0009	0.0025	0.33	0.50	0.20
6	Mean	6.36	6.61	1.75
6	Standard deviation	8.86	7.65	2.84

Tools

Get Citation

Copy Citation Text

Zhihao Xu, Zhaofa Zhou, Zihao Xu, Zhenjun Chang, Lei Feng. SINS/CNS fast calibration method based on global observability analysis[J]. Infrared and Laser Engineering, 2022, 51(6): 20210641

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Photoelectric measurement

Received: Oct. 25, 2021

Accepted: --

Published Online: Dec. 20, 2022

The Author Email:

DOI:10.3788/IRLA20210641

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology