Integrated Calibration Method for Dithered RLG POS Using a Hybrid Analytic/Kalman Filter Approach

被引：23

作者：

Li, Jianli ^{[1
,2
]}

Jiao, Feng ^{[1
]}

Fang, Jiancheng ^{[1
]}

Ma, Yanhai ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Instrument Sci & Optoelect Engn, Sci & Technol Inertial Lab, Key Lab Fundamental Sci Natl Def Novel Inertial I, Beijing 100191, Peoples R China

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2013年 / 62卷 / 12期

基金：

中国国家自然科学基金;

关键词：

Analytic; calibration; extended Kalman filter (EKF); lever arm compensation; position and orientation system (POS); ring laser gyroscope (RLG); ERROR ANALYSIS; ALIGNMENT; GYROSCOPE; SYSTEM;

D O I：

10.1109/TIM.2013.2272869

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

For improving the calibration precision of ring laser gyroscope (RLG) inertial measurement unit (IMU) with antivibration system, a novel integrated calibration method using a hybrid analytic/Kalman filter approach was proposed. An optimization analytic calibration method with four-direction rotations, based on three-axis turn table, was designed to coarsely calculate all the coefficients of RLG IMU mathematical error model. For further amending the remains of analytic calibration caused by an antivibration system disturbance and gyroscope drifts, a fine calibration method based on extended Kalman filter was proposed. It regarded the velocity errors as observation using a lever arm compensation technique. The experimental results show that the proposed integrated calibration method can improve the efficiency and precision of RLG position and orientation system which had been practically applied in airborne survey/mapping system.

引用

页码：3333 / 3342

页数：10

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