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Proceedings Paper

Dynamic calibration technique for inertial navigation system based on one-dimensional laser Doppler velocimeter
Author(s): Qun Wang; Guo Wei; Chunfeng Gao; Qi Wang; Xingwu Long
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Paper Abstract

Taking the one-dimensional Laser Doppler Velocimeter (LDV) and a certain type of Laser Gyro Strapdown Inertial Navigation System (SINS) developed our staff room for object, the paper verifies that dynamic calibration technique can be achieved by SINS/LDV integrated system on the basis of the analysis of the software and hardware conditions. Extended Kalman filter states of SINS/LDV integrated system were chosen based on the error models of SINS and LDV. Using the difference of the output speed of the SINS and LDV as measurement, the error of bias and scale factor of the integrated navigation system are estimated effectively by setting up a reasonable calibration path. The effectiveness of the algorithm is further verified through the vehicular experiments. The results of experiments show that the dynamic calibration technique can be achieved through SINS/LDV integrated system and ensure the maneuverability of terrestrial inertial navigation system. The estimate of LDV scale factor is about 0.003%. The estimate error of accelerometer bias no more than 13μg. The estimate error of gyroscope drift no more than 1.7×10-3°/h. The yaw angle error is less than 0.19 ' within 20min.

Paper Details

Date Published: 19 October 2016
PDF: 7 pages
Proc. SPIE 10153, Advanced Laser Manufacturing Technology, 1015313 (19 October 2016); doi: 10.1117/12.2247300
Show Author Affiliations
Qun Wang, National Univ. of Defense Technology (China)
Guo Wei, National Univ. of Defense Technology (China)
Chunfeng Gao, National Univ. of Defense Technology (China)
Qi Wang, National Univ. of Defense Technology (China)
Xingwu Long, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 10153:
Advanced Laser Manufacturing Technology
Bingheng Lu; Huaming Wang, Editor(s)

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