Vibration error compensation for mobile vehicle using Strap-down Inertial Navigation System

Abstract

When measuring the position and orientation of some special kind of mobile vehicles, such as agricultural machinery, mining equipment by using the Strap-down Inertial Navigation System (SINS), the performance accuracy of the SINS will be heavily affected by the vibration errors generated from the vehicles. This paper presents a new methodology to compensate vibration error of a mobile vehicle by using a SINS. The method is based on a newly derived coning/sculling error models according to the vibration form of the mobile vehicle. Firstly, coning/sculling error models were derived by modeling the angular vibration and linear vibration of the mobile vehicle as sines and cosines signal. Then, SINS vibration error was compensated by using the model based three-sample and four-sample algorithms respectively. During the experiment, a SINS was mounted on agricultural machinery which is used to fertilize fields. The experimental results indicated that the resulted vibration error such as the coning error and sculling error by using four-sample algorithm is 29.8% and 28.3% lower than the errors by using three-sample algorithm. Nevertheless, both algorithms are able to significantly decrease the vibration error (64.5% and 74.7% less coning error and 37.5% and 69.6% less sculling error than without compensation) of agricultural machinery by using SINS.