International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Compensator to Advance Gyro-Free INS Precision

  • Hung Chao-Yu (Department of System Engineering, Chung Cheng Institute of Technology, National Defense University) ;
  • Fang Chun-Min (Department of System Engineering, Chung Cheng Institute of Technology, National Defense University) ;
  • Lee Sou-Chen (College of Electrical Engineering and Computer Science, Lunghwa University of Science and Technology)
  • Published : 2006.06.01
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Abstract

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 INS 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.

Keywords

References

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