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http://dx.doi.org/10.5139/JKSAS.2022.50.9.617

Vision Aided Inertial Sensor Bias Compensation for Firing Lane Alignment  

Arshad, Awais (Korea Advanced Institute of Science and Technology)
Park, Junwoo (Korea Advanced Institute of Science and Technology)
Bang, Hyochoong (Korea Advanced Institute of Science and Technology)
Kim, Yun-young (LIG Nex1)
Kim, Heesu (LIG Nex1)
Lee, Yongseon (Agency for Defense Development)
Choi, Sungho (Agency for Defense Development)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.50, no.9, 2022 , pp. 617-625 More about this Journal
Abstract
This study investigates the use of movable calibration target for gyroscopic and accelerometer bias compensation of inertial measurement units for firing lane alignment. Calibration source is detected with the help of vision sensor and its information in fused with other sensors on launcher for error correction. An algorithm is proposed and tested in simulation. It has been shown that it is possible to compensate sensor biases in firing launcher in few seconds by accurately estimating the location of calibration target in inertial frame of reference.
Keywords
Inertial Measurement Unit; Extended Kalman Filter; Error Compensation; Sensor Fusion; Lane Alignment;
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