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In the error study of inertial navigation system (INS), the research on error analysis which is caused by gyro drift is limited to the constant drift in the past. Anyway, reality gyro drift is not a long-term unchanging one but varies continuously with time. With the study of systematic errors in depth, we can see that there exists a slope drift in a particular fiber optic gyroscope drift simulation,...
Navigation computer accepts the signals of gyroscope and accelerometer from IMU (Inertial Measurement Unit), achieves the design of data acquisition based on FPGA. Data acquisition circuit is a very important constituent of the laser gyroscope strapdown inertial navigation system, by analyzing the output of laser gyroscope and accelerometer further, completes the design of data acquisition circuit...
In order to improve the accuracy of strapdown inertial navigation system, the constant drift of gyro and the bias of accelerometer in inertial measurement unit (IMU) will be translated into periodic signal by the rotation of IMU, and the undesirable effects of constant drifts of inertial components can be eliminated by integral operations. The uniaxial unidirectional and reciprocating rotary compensation...
Conventional attitude algorithms for strapdown inertial navigation system (SINS) use angular increment as algorithm input. However, these algorithms do not address the issue of angular rate which is the output of modern-day gyro. The integration of angular rate for the purpose of getting angular increment degrades the algorithm performance inevitably. To solve this problem, a generalized method for...
This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GPS/INS navigation systems. Usually, an extended Kalman filter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view,...
The optimal two-position alignment using Kalman filter is newly derived for strapdown inertial navigation system (SINS). During the alignment process, SINS is rotated with respect to the heading axis. The Kalman filter estimates the misalignments and gyro drifts at these two positions. In terms of the relationship between yaw misalignments and gyro drifts, the horizontal gyro drifts can be computed...
For the limitation of the primary data acquisition card of laser gyroscope SINS, based on the further analysis of the features of output signals of laser gyroscope and accelerator, this paper has finished the design of data acquisition card according to FPGA, which is described by VHDL. This design of data acquisition card is faced to PC/104 system. The experiments show that this acquisition card...
The objective of this paper is to analyze the estimation performance of gyroscope drifts in INS/GPS integrated navigation systems, while system is in motion. Strapdown inertial navigation system (SINS) error model is augmented by inertial sensor bias and drift and GPS clock bias and drift to improve the integration performance. To estimate the augmented state error, instead of GPS position, GPS pseudoranges...
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