An Alternative Methodology for Fiber Optic Gyroscope Calibration

The objective of this paper is to present an alternative calibration technique for a Fiber Optic Gyroscope (FOG). Emphasis is placed on the use of neural networks to aid in the calibration process. The main objective is to reduce the cost of the calibration process by reducing the required time on a 3-axis rotation table and the amount of engineering time required to process the data. An innovative approach is also presented where the calibration is performed on the level of the sensor (gyro) instead of being performed on the system (Inertial Measurement Unit (IMU)) level. The new calibration methodology is presented and simulation results supporting the new concept is presented.

[1]  Demoz Gebre-Egziabher,et al.  Design and performance analysis of a low-cost aided dead reckoning navigator , 2001 .

[2]  Peter J. Gawthrop,et al.  Neural networks for control systems - A survey , 1992, Autom..

[3]  Thia Kirubarajan,et al.  Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software , 2001 .

[4]  Sameh Nassar,et al.  Improving the Inertial Navigation System (INS) error model for INS and INS/DGPS applications , 2003 .

[5]  N. El-Sheimy,et al.  Wavelet de-noising for IMU alignment , 2004, IEEE Aerospace and Electronic Systems Magazine.

[6]  Anthony Lawrence,et al.  Modern Inertial Technology: Navigation, Guidance, and Control , 1993 .

[7]  John Weston,et al.  Strapdown Inertial Navigation Technology, Second Edition , 2005 .

[8]  Ozan Tekinalp,et al.  ARTIFICIAL NEURAL NETWORKS FOR TRANSFER ALIGMENT AND CALIBRATION OF INERTIAL NAVIGATION SYSTEMS , 2001 .

[9]  D. M. Bevly,et al.  Characterization of Inertial Sensor Measurements for Navigation Performance Analysis , 2006 .

[10]  Sheng Chen,et al.  Orthogonal Forward Selection for Constructing the Radial Basis Function Network with Tunable Nodes , 2005, ICIC.

[11]  Rosalind W. Picard,et al.  On the efficiency of the orthogonal least squares training method for radial basis function networks , 1996, IEEE Trans. Neural Networks.

[12]  Naser El-Sheimy,et al.  Modeling Inertial Sensor Errors Using Autoregressive (AR) Models , 2004 .

[13]  N. El-Sheimy,et al.  Online INS/GPS integration with a radial basis function neural network , 2005, IEEE Aerospace and Electronic Systems Magazine.

[14]  Weifeng Tian,et al.  Temperature drift modelling of fibre optic gyroscopes based on a grey radial basis function neural network , 2004 .

[15]  Mei Wang,et al.  The New Calibrating Algorithm for the Low-Cost Fiber-Optics Gyroscope , 2006, 2006 IEEE/ION Position, Location, And Navigation Symposium.

[16]  Xiaoji Niu,et al.  Improving the Positioning Accuracy of DGPS/MEMS IMU Integrated Systems Utilizing Cascade De-noising Algorithm , 2004 .

[17]  Xiaoping Zong,et al.  Camera Calibration Based on the RBF Neural Network with Tunable Nodes forVisual Servoing in Robotics , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Bian Hongwei,et al.  A projection pursuit learning network, for modeling temperature drift of FOG , 2003, International Conference on Neural Networks and Signal Processing, 2003. Proceedings of the 2003.

[19]  Aboelmagd Noureldin,et al.  A neural network model of optical gyros drift errors with application to vehicular navigation , 2004, SPIE Optics + Photonics.

[20]  J. Lincoln,et al.  Northrop Grumman's Family of Fiberoptic based Inertial Navigation Systems , 2006, 2006 IEEE/ION Position, Location, And Navigation Symposium.

[21]  Shang-Liang Chen,et al.  Orthogonal least squares learning algorithm for radial basis function networks , 1991, IEEE Trans. Neural Networks.

[22]  Cleve B. Moler,et al.  Numerical computing with MATLAB , 2004 .

[23]  Simon Haykin,et al.  Neural Networks: A Comprehensive Foundation , 1998 .

[24]  Aboelmagd Noureldin,et al.  Sensor Integration for Satellite-Based Vehicular Navigation Using Neural Networks , 2007, IEEE Transactions on Neural Networks.

[25]  A. B. Chatfield Fundamentals of high accuracy inertial navigation , 1997 .

[26]  Haiying Hou,et al.  Modeling inertial sensors errors using Allan variance , 2004 .

[27]  Johann Borenstein,et al.  Sensor fusion for mobile robot dead-reckoning with a precision-calibrated fiber optic gyroscope , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[28]  Xiren Zhao,et al.  Modeling of ship vertical motion with self-organizing radial basis function artificial neural network , 2006, 2006 1st International Symposium on Systems and Control in Aerospace and Astronautics.

[29]  N. El-Sheimy,et al.  INS/GPS data fusion technique utilizing radial basis functions neural networks , 2004, PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556).

[30]  Yanhua Zhang,et al.  A novel intelligent strategy for improving measurement precision of FOG , 2000, IEEE Trans. Instrum. Meas..

[31]  David M. Bevly,et al.  Characterization of Various IMU Error Sources and the Effect on Navigation Performance , 2005 .

[32]  Ahmed El-Rabbany,et al.  An Efficient Neural Network Model for De-noising of MEMS-Based Inertial Data , 2004, Journal of Navigation.

[33]  Johann Borenstein,et al.  Precision calibration of fiber-optics gyroscopes for mobile robot navigation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[34]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[35]  D. Shupe,et al.  Thermally induced nonreciprocity in the fiber-optic interferometer. , 1980, Applied optics.

[36]  K. Chiang INS/GPS integration using neural networks for land vehicular navigation applications , 2004 .

[37]  Xinlong Wang,et al.  An Intelligent Calibration of SINS Using Neural Networks on Moving Base , 2008, 2008 IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application.

[38]  Naser El-Sheimy,et al.  INS and INS/GPS Accuracy Improvement Using Autoregressive (AR) Modeling of INS Sensor Errors , 2004 .

[39]  Sidney M. Bennett,et al.  Fiber optic rate gyros as replacements for mechanical gyros , 1998 .

[40]  Xiaoji Niu,et al.  Analysis and Modeling of Inertial Sensors Using Allan Variance , 2008, IEEE Transactions on Instrumentation and Measurement.