Error Analysis and Gyro-Bias Calibration of Analytic Coarse Alignment for Airborne POS

The Position and Orientation System is integrated measurement equipment for airborne remote sensing system. The calibration of gyro biases is an effective way to reduce azimuth misalignment and navigation error of strapdown inertial navigation system (SINS). According to the analytic-coarse-alignment principle, the sensitivities of Euler angles with respect to inertial sensor biases are analyzed uniquely. The errors of Earth rotation rate in body frame caused by initial misalignment are obtained. Based on the transformation model of gyro biases, a novel analytic calibration of gyro biases with arbitrary double position is proposed. The simulation and experiment results show that the method can accurately calibrate the gyro biases, improve the precision of initial alignment and inertial navigation for SINS, and verify the efficiency of the proposed method.

[1]  Wei Gao,et al.  Optimal Two-Position Alignment for Strapdown Inertial Navigation System , 2008, 2008 International Conference on Intelligent Computation Technology and Automation (ICICTA).

[2]  B. Priel.  The effect of gyro nonorthogonality error on gyrocompassing , 1992 .

[3]  D. Hu,et al.  Optimization-based alignment for inertial navigation systems: Theory and algorithm , 2011 .

[4]  M. S. Grewal,et al.  Application of Kalman filtering to the calibration and alignment of inertial navigation systems , 1991 .

[5]  Cheng Jian-hua,et al.  Method of accurate gyro drift measurement for inertial navigation system , 2008, 2008 IEEE International Conference on Mechatronics and Automation.

[6]  Yeon Fuh Jiang.  Error analysis of analytic coarse alignment methods , 1998 .

[7]  H. Durrant-Whyte,et al.  Initial calibration and alignment of an inertial navigation , 1997, Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice.

[8]  Xinlong Wang.  Fast alignment and calibration algorithms for inertial navigation system , 2009 .

[9]  Smita Sadhu,et al.  Improving self-alignment of strapdown INS using measurement augmentation , 2009, 2009 12th International Conference on Information Fusion.

[10]  M. S. Grewal,et al.  Application of Kalman filtering to the calibration and alignment of inertial navigation systems , 1990, 29th IEEE Conference on Decision and Control.

[11]  Chan Gook Park,et al.  Strapdown INS error model for multiposition alignment , 1996 .

[12]  Joseph E. Sedlak,et al.  Automated Attitude Sensor Calibration: Progress and Plans , 2004 .

[13]  Jiancheng Fang,et al.  Predictive Iterated Kalman Filter for INS/GPS Integration and Its Application to SAR Motion Compensation , 2010, IEEE Transactions on Instrumentation and Measurement.

[14]  Jiancheng Fang,et al.  Double any-position alignment without rotatable device for SINS , 2006, International Symposium on Instrumentation and Control Technology.

[15]  Ling Xie,et al.  New techniques for initial alignment of strapdown inertial navigation system , 2009, J. Frankl. Inst..

[16]  Jang Gyu Lee,et al.  TWO-POSITION ALIGNMENT OF STRAPDOWN INERTIAL NAVIGATION SYSTEM , 1998 .

[17]  Fang Jiancheng,et al.  Study on Innovation Adaptive EKF for In-Flight Alignment of Airborne POS , 2011, IEEE Transactions on Instrumentation and Measurement.

[18]  Y. Jiang,et al.  Error estimation of ground alignment to arbitrary azimuth , 1993 .

[19]  Jeong Gu Lee,et al.  Multiposition alignment of strapdown inertial navigation system , 1993 .

[20]  Hyo-Sung Ahn,et al.  Initial attitude estimation of tactical grade inertial measurement unit for airborne environmental camera , 2003, Proceedings of the 2003 American Control Conference, 2003..