Automatic alignment and calibration of an inertial navigation system

Saab, Samer S.; Gunnarsson, Kristjan T.

Automatic alignment and calibration of an inertial navigation system

Saab, Samer S.; Gunnarsson, Kristjan T.

URI: http://hdl.handle.net/10725/11206

URL: https://ieeexplore.ieee.org/abstract/document/303400

DOI: http://dx.doi.org/10.1109/PLANS.1994.303400

Date: 2019-08-09

Terms of Use: This item is made available under the terms and conditions applicable to " Conference Paper / Proceeding ", as set forth at: http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php

Abstract:

In this paper we derive a simple six degree of freedom navigator, Earth-surface navigator, for terranean vehicle application, using low grade gyros. The calibration and alignment of the navigator are investigated when the system is at rest. Based on the observability of the error model when the system is at rest, a state transformation is presented. This transformation decouples the observable modes, which are based on physical insight from the unobservable modes. An example is given to illustrate the performance of a Kalman filter for calibration and alignment.

Citation:

Saab, S. S., & Gunnarsson, K. T. (1994, April). Automatic alignment and calibration of an inertial navigation system. In Proceedings of 1994 IEEE Position, Location and Navigation Symposium-PLANS'94 (pp. 845-852). IEEE.