Analytical Framework for Online Calibration of Sensor Systematic Errors Under the Generic Multisensor Integration Strategy.

IF 3.4 3区 综合性期刊 Q2 CHEMISTRY, ANALYTICAL
Sensors Pub Date : 2025-05-21 DOI:10.3390/s25103239
Benjamin Brunson, Jianguo Wang
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引用次数: 0

Abstract

This paper proposes an analytical framework for pre-analyzing the potential performance of online sensor calibration in Kalman filtering. Taking a multi-sensor integrated kinematic positioning and navigation system as an example, a pre-analysis of the system performance can be conducted: the observability of individual sensor systematic error states; minimum estimable values of sensor systematic error states; and minimum detectable systematic errors in sensor observations. These measures together allow for a rigorous characterization of the potential performance of a system as part of mission planning. The proposed framework enables a thorough evaluation of the relative value of different calibration maneuvers and sensor configurations before data collection by simulating the anticipated trajectory, without even requiring the construction of a physical system. When used with the Generic Multisensor Integration Strategy (GMIS), the proposed framework provides unique insight into the potential performance of IMU sensors. To illustrate the utility of the proposed framework, two situations were analyzed: one where no specific calibration maneuvers were undertaken and one where a circular motion maneuver was undertaken. The results show the potential and practicality of the proposed framework in firmly establishing best practices for field procedures and learning about the system's capability when using online sensor calibration.

通用多传感器集成策略下传感器系统误差在线标定分析框架。
本文提出了一种分析框架,用于预先分析在线传感器校准在卡尔曼滤波中的潜在性能。以多传感器集成运动定位导航系统为例,对系统性能进行预分析:单个传感器系统误差状态的可观测性;传感器系统误差状态的最小估计值;在传感器观测中最小的可检测系统误差。这些措施加在一起,可以作为任务规划的一部分,对系统的潜在性能进行严格的描述。所提出的框架能够在数据收集之前通过模拟预期轨迹来彻底评估不同校准机动和传感器配置的相对价值,甚至不需要构建物理系统。当与通用多传感器集成策略(GMIS)一起使用时,所提出的框架提供了对IMU传感器潜在性能的独特见解。为了说明所提出的框架的效用,分析了两种情况:一种是没有进行特定的校准机动,一种是进行圆周运动机动。结果表明,所提出的框架在为现场程序建立最佳实践以及在使用在线传感器校准时了解系统能力方面具有潜力和实用性。
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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来源期刊
Sensors
Sensors 工程技术-电化学
CiteScore
7.30
自引率
12.80%
发文量
8430
审稿时长
1.7 months
期刊介绍: Sensors (ISSN 1424-8220) provides an advanced forum for the science and technology of sensors and biosensors. It publishes reviews (including comprehensive reviews on the complete sensors products), regular research papers and short notes. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.
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