Title :
Estimation of Information Sharing Error by Dynamic Deformation Between Inertial Navigation Systems
Author :
Bo Wang ; Zhihong Deng ; Cheng Liu ; Yuanqing Xia ; Mengyin Fu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
Dynamic deformation of a vehicle and relative position of inertial navigation systems will cause large errors during information sharing. Such errors should be estimated and compensated effectively, or it will cause large errors to navigation information output. Therefore, the model between deformation angle and dynamic lever arm is established to verify that the influence is not coaxial but decussate. Then, estimation and compensation methods for deformation angle and dynamic lever arm are proposed with real-time closed-loop correction of the lever-arm length. Simulation results demonstrate that, for the estimation of misalignment angle, the proposed method has a faster convergence than the traditional method. Moreover, the deformation angle and dynamic lever-arm estimation also takes less time with a higher accuracy than the traditional method.
Keywords :
closed loop systems; inertial navigation; real-time systems; vehicles; dynamic deformation; dynamic lever arm; inertial navigation systems; information sharing error; lever-arm length; real-time closed-loop correction; vehicle; Dynamic lever arm; flexural deformation; inertial navigation system (INS); information sharing;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2013.2271595