Automatic alignment and calibration of an inertial navigation system
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 syst...
محفوظ في:
| المؤلف الرئيسي: | |
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| مؤلفون آخرون: | |
| التنسيق: | conferenceObject |
| منشور في: |
1994
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| الموضوعات: | |
| الوصول للمادة أونلاين: | http://hdl.handle.net/10725/11206 http://dx.doi.org/10.1109/PLANS.1994.303400 http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php https://ieeexplore.ieee.org/abstract/document/303400 |
| الوسوم: |
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| الملخص: | 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. |
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