Experimental study on the estimation of lever arm in GPS/INS

被引：66

作者：

Hong, S ^{[1
]}

Lee, MH

Chun, HH

Kwon, SH

Speyer, JL

机构：

[1] Pusan Natl Univ, ASERC, Pusan 609735, South Korea

[2] Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea

[3] Pusan Natl Univ, Dept Naval Architecture & Ocean Engn, Pusan 609735, South Korea

[4] Texas A&M Univ, Dept Civil Engn, College Stn, TX 77843 USA

[5] Univ Calif Los Angeles, Dept Mech & Aerosp Engn, Los Angeles, CA 90095 USA

来源：

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2006年 / 55卷 / 02期

关键词：

global positioning system (GPS); inertial measurement unit (IW); inertial navigation; inertial navigation system (INS); lever arm; observability;

D O I：

10.1109/TVT.2005.863411

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：

Lever-arm uncertainty can be an important error source in the integration of the Global Positioning System (GPS) and inertial navigation system (INS). This paper presents both numerical and experimental studies on the estimation of the lever arm in the integration of a very-low-grade inertial measurement unit (IMU) with an accurate single-antenna GPS measurement system. Covariance simulation results showed that maneuvers play an important role on the estimation of the lever arm and attitude. The length of the lever arm has a rather insignificant effect on the estimation of these. Experimental tests conducted with a low-cost microelectromechanical system (MEMS) IMU and a carrier-phase differential GPS (CDGPS) measurement system showed that the lever arm can be estimated with centimeter-level accuracy. The test results confirmed that angular motions and horizontal accelerations improve the estimates of the lever arm and yaw angle, respectively.

引用

页码：431 / 448

页数：18

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