Error detection and compensation in transfer alignment for the distributed POS

High precision location and attitude of each point in the distributed POS is achieved by the use of transfer alignment from the master IMU to the slave, where the benchmark is provided by the navigation parameter of the master IMU. The flexible lever arm effect caused by the flexible distortion between the master IMU and the slave has a influence on measurement precision. In this paper, the problem of error detection and compensation in transfer alignment is studied for the distributed POS. This paper considers the flexible lever arm error as a sensor fault. Then this paper analyses the generation and propagation mechanism of the error. Based on this, a augmented transfer alignment model considering the flexible lever arm error is founded and a Kalman filter is designed. The simulation result shows this model and filter is feasible for the error detection and compensation, and can provide references for the engineering application of the distributed POS.