칼만필터를 이용한 스트랩다운 관성측정기의 교정기법

Calibration Technique of Strapdown Iinertial Measurement Unit Using Kalman Filter

In this paper, we formulate Kalman filter for calibration of strapdown inertial measurment unit(SDIMU) on navigation system level and analyize its performance by covariance simulation method. It has been shown that the calibration method suggested in this paper is not largely influenced by accuracy of a mounting axis alignment required in calibration of SDIMU on IMU level.