Abstract
An in-flight calibration algorithm is proposed to estimate installation errors between IMUs in a multi-IMU redundancy system, where more than two IMUs are installed parallel to each other. One IMU deeply integrated with GPS pseudo-range and pseudo-range rate is chosen as installation reference, and its attitude is improved through a series of aircraft maneuver before calibration to provide precise reference. At the beginning of calibration, the IMU sends real-time navigation parameters to other IMUs which will then run attitude update procedure but the velocity and position is still provided by the reference. Then a Kalman filter is designed through SINS attitude error model and measurements are attitude differences to the reference. Simulation result shows that the proposed algorithm can precisely estimate the calibration errors just through rough roll and turning maneuver, and the precision can achieve arc second level.
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Zhang, J., Qin, Y., Wu, F. (2013). Technique for In-flight Calibrating Installation Errors in Multi-IMU Redundancy System. In: Lu, W., Cai, G., Liu, W., Xing, W. (eds) Proceedings of the 2012 International Conference on Information Technology and Software Engineering. Lecture Notes in Electrical Engineering, vol 211. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34522-7_12
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DOI: https://doi.org/10.1007/978-3-642-34522-7_12
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