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A Calibration Method for Six-Accelerometer INS
Chao-Yu Hung,Sou-Chen Lee 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.5
The gyroscope free strap-down INS is composed only of accelerometers. Any gyroscope free INS navigation error is deeply affected by the accuracy of the sensor bias, scale factor, orientation and location error. However these parameters can be found by calibration. There is an important research issue about a multi-position calibration method in this paper. It provides a novel method to find the error parameters for the six-accelerometer INS. A superior simulation is shown that the multi-position calibration can find the specifications of a six-accelerometer INS in laboratory. From these parameters the six-accelerometer INS could apply in realistic navigation.
A Compensator to Advance Gyro-Free INS Precision
Chao-Yu Hung,Chun-Min Fang,Sou-Chen Lee 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.3
The proposed inertial measurement unit (IMU) is composed of accelerometers only. It can determine a vehicle's position and attitude, which is the Gyro-free INS. The Gyro-free INS error is deeply affected by the sensor bias, scale factor and misalignment. However, these parameters can be obtained in the laboratory. After these misalignments are' corrected, the Gyro-free strap-down INS could be more accurate. This paper presents a compensator design for the strap-down six-accelerometer TNS to correct misalignment. A calibration experiment is taken to get the error parameters. A simulation results show that it will decrease the INS error to enhance the performance after compensation.