Title :
An optimization self-calibration method of rotational inertial navigation system based on genetic algorithm
Author :
Qian Ren ; Bo Wang ; Zhihong Deng ; Mengyin Fu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
Navigation error of rotational inertial navigation system still diverges because of IMU errors. An improved self-calibration method is proposed to solve this problem. Least squares is utilized in identification of the error parameters with taking velocity errors as observations. The Genetic Algorithm(GA) is utilized to optimize the rotation angles, covariance matrix of the least squares is taken as fitness function of the GA. Simulation results show that compared to traditional method, the proposed method can improve the position accuracy significantly.
Keywords :
calibration; genetic algorithms; inertial navigation; least squares approximations; measurement errors; position measurement; IMU error; covariance matrix; error parameter identification; fitness function; genetic algorithm; least square method; navigation error; rotation angle; rotational inertial navigation system; self-calibration method optimization; velocity error; Accelerometers; Accuracy; Calibration; Covariance matrices; Genetic algorithms; Navigation; Optimization; genetic algorithm; least square; rotational inertial navigation system; self-calibration;
Conference_Titel :
Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on
Conference_Location :
Shengyang
Print_ISBN :
978-1-4799-2564-3
DOI :
10.1109/MEC.2013.6885499
