Highly Accurate Inertial Navigation that Compensates for the Earth's Rotation and Sensor BIAS Using Non-Holonomic Constraints

2023 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL) Pub Date : 2023-03-28 DOI:10.1109/INERTIAL56358.2023.10103969

Masato Kimishima, T. Sawada, Akihiro Sonoura, Toru Amano, Hiroyuki Kamata, Kosei Yamashita

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Abstract

This proposal presents a means of increasing the accuracy of inertial navigation (IN) by isolating the Earth's rotation and sensor bias. It is designed as a means of navigation for moving objects using just an IMU without any external sensors. By eliminating the Earth's rotation, which is a factor that leads to IN errors, even with online processing during movement, IN measurement errors were reduced from approximately 20 m every 60 seconds to just 2 m. In order to isolate the angular velocity of the Earth from the angular velocity of a moving object, we focused on non-holonomic constraints (NHC) and optimized the index of precision to minimize velocity errors, allowing us to successfully isolate the Earth's rotation and separate it from gyroscope bias during motion. As a result, the conventional “maytagging” method, whereby complex calibrations are carried out on the stationary object before movement, is rendered unnecessary.

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利用非完整约束补偿地球自转和传感器偏差的高精度惯性导航

提出了一种通过隔离地球自转和传感器偏差来提高惯性导航精度的方法。它被设计为一种导航的手段，移动的物体只使用一个IMU，没有任何外部传感器。通过消除地球自转(这是导致IN误差的一个因素)，即使在运动过程中进行在线处理，IN测量误差也从每60秒约20米减少到仅2米。为了将地球的角速度从运动物体的角速度中分离出来，我们专注于非完整约束(NHC)并优化精度指标以最小化速度误差，使我们能够成功地分离地球的自转并将其与陀螺仪在运动过程中的偏差分离开来。因此，传统的“maytagging”方法，即在运动前对静止物体进行复杂的校准，变得没有必要。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2023 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)

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