Basic Geometric Considerations for a Self-Calibration of Strapdown Inertial Sensor Blocks by Tumbles
Strapdown Inertial Systems are usually calibrated by means of very accurate and expensive turn tables. This high accuracy is not required if self-calibration techniques are employed which make proper use of less accurate reference information and the uncalibrated system output itself. Starting from fundamental calibration principles, such a technique is stepwise evaluated for geometric parameters. The steps cover the general three-dimensional calibration model, solvability considerations, the self-calibration of pairs and triplets of sensors-separate for accelerometers and single-degree-of-freedom gyroscopes, the essential determination of the rotation between them, and finally the combined self-calibration of both triplets. Pros and cons are discussed in view of the calibration principles.
KeywordsInertial Navigation System Specific Force Target Parameter Sensor Error Compensation Model
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