Laser & Optoelectronics Progress, Volume. 58, Issue 6, 628003(2021)
In-Motion Alignment Method of Vehicle-Mounted Laser Strapdown Inertial Navigation System
Figures & Tables(8)
Fig. 4. Platform misalignment angles corresponding to trajectory 1. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle
Fig. 5. Platform misalignment angles corresponding to trajectory 2. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle
Fig. 6. Platform misalignment angles corresponding to trajectory 3. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle
Table 1. Table of error parameter setting
View tableTable 1. Table of error parameter setting
Parameter Setting value Gyro constant drift /[(°)·h-1] 0.01 Gyro random noise /[(°)·h-1] 0.005 Accelerometer bias /μg 100 Accelerometer measurement noise /μg 50 Odometer scale factor error /% 0.1 Odometer installation angle error /(') (3, 3, 3)
Table 2. Results of simulation
View tableTable 2. Results of simulation
Test number Alignment schemes East misalignment angle /(″) North misalignment angle /(″) Azimuth misalignment angle /(') Trajectory 1 NO RM -16.2800 7.0030 -11.6909 RM -0.8073 -1.4890 0.2519 Trajectory 2 NO RM -15.5100 -5.8630 2.9339 RM -2.5930 0.8516 0.5699 Trajectory 3 NO RM -19.5800 17.3300 3.0259 RM 2.4410 2.1570 0.3003
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Yang Chen, Cai Yuanwen, Shi Meiling, Wang Huaipeng, Xin Chaojun. In-Motion Alignment Method of Vehicle-Mounted Laser Strapdown Inertial Navigation System[J]. Laser & Optoelectronics Progress, 2021, 58(6): 628003
Paper Information
Category: Remote Sensing and Sensors
Received: Oct. 21, 2020
Accepted: --
Published Online: Mar. 6, 2021
The Author Email: Chaojun Xin (1935179863@qq.com)
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