지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 2,100 - 2,105 (6page)
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초록· 키워드
오류제보하기
An improved calibration method for a strap-down inertial navigation system (SDINS) is presented here. Calibration accuracy in conventional method is vulnerable to gyro uncertain errors such as random walk, Markov noise and dead band, etc. Earth-rate injection technique is suggested to reduce the calibration errors induced by gyro errors by replacing gyro output measurements with true earth-rate projections in static positions of calibration sequences. The true earth-rate projections to the IMU body frame are calculated with DCM (Directional Cosine Matrix) which is estimated using the information of accelerometer measurement. Simulation results show that calibration accuracy is significantly improved by incorporating the earth-rate injection technique.
목차
Abstract
1. INTRODUCTION
2. REVIEW OF INDIRECT CALIBRATION
3. Calibration Error by Gyro Uncertainties
4. EARTH RATE INJECTION TECHNIQUE
5. SIMULATION STUDY
6. EXPERIMENTAL RESULTS
7. CONCLUSION
REFERENCES
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