Dynamic calibration technique for inertial navigation system based on one-dimensional laser Doppler velocimeter

Qun Wang; Guo Wei; Chunfeng Gao; Qi Wang; Xingwu Long

doi:10.1117/12.2247300

19 October 2016 Dynamic calibration technique for inertial navigation system based on one-dimensional laser Doppler velocimeter

Qun Wang, Guo Wei, Chunfeng Gao, Qi Wang, Xingwu Long

Author Affiliations +

Proceedings Volume 10153, Advanced Laser Manufacturing Technology; 1015313 (2016) https://doi.org/10.1117/12.2247300
Event: International Symposium on Optoelectronic Technology and Application 2016, 2016, Beijing, China

Abstract

Taking the one-dimensional Laser Doppler Velocimeter (LDV) and a certain type of Laser Gyro Strapdown Inertial Navigation System (SINS) developed our staff room for object, the paper verifies that dynamic calibration technique can be achieved by SINS/LDV integrated system on the basis of the analysis of the software and hardware conditions. Extended Kalman filter states of SINS/LDV integrated system were chosen based on the error models of SINS and LDV. Using the difference of the output speed of the SINS and LDV as measurement, the error of bias and scale factor of the integrated navigation system are estimated effectively by setting up a reasonable calibration path. The effectiveness of the algorithm is further verified through the vehicular experiments. The results of experiments show that the dynamic calibration technique can be achieved through SINS/LDV integrated system and ensure the maneuverability of terrestrial inertial navigation system. The estimate of LDV scale factor is about 0.003%. The estimate error of accelerometer bias no more than 13μg. The estimate error of gyroscope drift no more than 1.7×10^-3°/h. The yaw angle error is less than 0.19 ' within 20min.

Citation Download Citation

Qun Wang, Guo Wei, Chunfeng Gao, Qi Wang, and Xingwu Long "Dynamic calibration technique for inertial navigation system based on one-dimensional laser Doppler velocimeter", Proc. SPIE 10153, Advanced Laser Manufacturing Technology, 1015313 (19 October 2016); https://doi.org/10.1117/12.2247300

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available