Infrared and Laser Engineering, Volume. 51, Issue 6, 20210641(2022)
SINS/CNS fast calibration method based on global observability analysis
Figures & Tables(10)
Fig. 1. (a) Pitch angle error curve; (b) Roll angle error curve; (c) Heading angle error curve
Fig. 2. (a)
Fig. 3. (a)
Fig. 4. (a)
Table 1. Error parameter settings
View tableView in ArticleTable 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 tableView in ArticleTable 2. Statistical characteristic quantities of state quantity estimation residuals
Group Feature amount $ {\alpha _x}/('') $ $ {\alpha _y}/('') $ $ {\alpha _z}/('') $ $ {\varepsilon _x} $ ${\varepsilon _y}$ ${\varepsilon _z}$ ${\nabla _x}{\text{/μg} }$ ${\nabla _y}{\text{/μg} }$ ${\nabla _z}{\text{/μg} }$ 1 Mean −0.27 0.23 −0.28 −0.0001 −0.0003 0.0002 0.25 0.22 0.11 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 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 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 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 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 Standard deviation 8.86 7.65 2.84
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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
Paper Information
Category: Photoelectric measurement
Received: Oct. 25, 2021
Accepted: --
Published Online: Dec. 20, 2022
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