期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 57, 期 6, 页码 3402-3412出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2008.921616
关键词
Alignment; Global Positioning System (GPS) and inertial navigation system (INS) integration; microelectromechanical systems (MEMS) inertial sensors; portable navigation system
资金
- Natural Science and Engineering Research Council of Canada (NSERC)
- Geomatics for Informed Decisions (GEOIDE)
- Network Centers of Excellence (NCE)
A vital necessity for any kind of inertial navigation system (INS) is the alignment of its axis with the vehicle body frame (VBF). Civilian vehicle navigation has strict requirements with respect to cost, size, reliability, and ease of implementation of the system. Microelectromechanical system (MEMS) inertial sensors have satisfied the cost and size requirements for civilian vehicle navigation; however, reliability and ease of implementation of these low-cost and miniaturized navigation systems are still parts of major research and investigation. This paper focuses on an important aspect of the ease of implementation for inertial sensors. From a civilian user perspective, accurately aligning the inertial system with respect to the vehicle, before every use, is not a desirable quality for a portable navigation system. In addition, it is not realistic to assume that even a careful user can achieve good alignment accuracy of the system. The purpose of this paper is to investigate the effects of misalignment errors that will produce errors in initial alignment and affect the navigation accuracy for two different inertial systems. The inertial systems are classified according to the number of sensors used in the system. The first system consists of three gyros and three accelerometers [full inertial measurement unit (IMU)], whereas the second system only hash one gyro and two horizontal accelerometers (partial IMU).
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据