A car test for the estimation of GPS/INS alignment errors

被引：60

作者：

Hong, S ^{[1
]}

Lee, MH

Kwon, SH

Chun, HH

机构：

[1] Pusan Natl Univ, Adv Ship Engn Res Ctr, Pusan 609735, South Korea

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

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

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2004年 / 5卷 / 03期

关键词：

alignment errors; global positioning system (GPS); inertial navigation systems (INS); lever arm; observability; road vehicles;

D O I：

10.1109/TITS.2004.833771

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

Misalignment can be an important error source in the integration of the global positioning system (GPS) and inertial navigation systems. This paper presents car test results on the estimation of alignment errors in the integration of a low-grade inertial measurement unit (IMU) with accurate GPS measurement systems. The car test was conducted with a low-cost solid-state IMU and carrier-phase differential GPS measurement systems. Test results showed that changes in the angular velocity improve the estimation of the lever arm between the GPS antenna and IMU. They also showed that changes in acceleration improve the estimation of the relative attitude between the GPS antenna array and IMU. The lever arm was estimated with a 10-cm error. The relative attitude was estimated with a half-degree error. An iterative scheme was used to improve the estimation of the alignment errors during postprocessing. The scheme was shown to be useful when the test car could not have sufficient changes in motion due to limitations in its path. With the given set of test data, the estimation error decreased as the number of iterations increased.

引用

页码：208 / 218

页数：11

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