Improved calibration of IMU biases in analytic coarse alignment for AHRS

An improved method for the inertial measurement unit (IMU) calibration of coarse alignment for the low-accuracy attitude heading reference system (AHRS) is proposed in this paper. The sensitivities of the Euler angles with respect to the inertial sensor biases are studied based on the analytic coarse alignment principle, and the errors of earth rotation rate and local gravity in the body frame caused by initial attitude error are analyzed. Then, an improved analytic coarse alignment algorithm with accelerometer and gyro bias calibration in an arbitrary three-position is proposed. Simulation and experiment results show that the novel method can calibrate accelerometer and gyro biases, reduce Euler angle attitude error, and improve navigation precision in practical applications. Moreover, this method can be applied to other low-accuracy inertial navigation systems.

[1]  Jari Kangas,et al.  An enhanced multi-position calibration method for consumer-grade inertial measurement units applied and tested , 2010 .

[2]  Jiancheng Fang,et al.  Integrated Calibration Method for Dithered RLG POS Using a Hybrid Analytic/Kalman Filter Approach , 2013, IEEE Transactions on Instrumentation and Measurement.

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

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

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

[6]  Fang Jiancheng,et al.  In-Flight Calibration Approach Based on Quaternion Optimization for POS Used in Airborne Remote Sensing , 2013, IEEE Transactions on Instrumentation and Measurement.

[7]  Marko Munih,et al.  Three-Axial Accelerometer Calibration Using Kalman Filter Covariance Matrix for Online Estimation of Optimal Sensor Orientation , 2012, IEEE Transactions on Instrumentation and Measurement.

[8]  B. Motazed,et al.  Performance of automotive-grade MEMS sensors in low cost AHRS for general aviation , 2003, Digital Avionics Systems Conference, 2003. DASC '03. The 22nd.

[9]  Jiancheng Fang,et al.  Error Analysis and Gyro-Bias Calibration of Analytic Coarse Alignment for Airborne POS , 2012, IEEE Transactions on Instrumentation and Measurement.

[10]  Wei Gao,et al.  A new method of initial alignment and self-calibration based on dual-axis rotating strapdown inertial navigation system , 2012, Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium.

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

[12]  Deng Zheng-long,et al.  Comparison of Three Transfer Alignment Methods in Marine Missile SINS , 2006, 2006 Chinese Control Conference.

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

[14]  Yongyuan Qin,et al.  A high-accuracy calibration method of optical gyro SINS , 2010, 2010 3rd International Symposium on Systems and Control in Aeronautics and Astronautics.

[15]  Xiang Li,et al.  Vector-Aided In-Field Calibration Method for Low-End MEMS Gyros in Attitude and Heading Reference Systems , 2014, IEEE Transactions on Instrumentation and Measurement.

[16]  Wei Gao,et al.  Effect of the discrete calibration to the fiber optic attitude heading reference system , 2011, The 2011 IEEE/ICME International Conference on Complex Medical Engineering.

[17]  Robert M. Rogers.  Inertial Navigation System Ground Alignment , 2007 .

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

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

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