Details

Autor(en) / Beteiligte

• Luginbuhl, Tod E.
• Zaki, Ahmed
• Chabot, Eugene

Titel

Improving Inertial Navigation Accuracy with Bias Modeling

Ist Teil von

• Recent Trends in Naval Engineering Research, 2021, p.277-304

Ort / Verlag

Switzerland: Springer International Publishing AG

Erscheinungsjahr

2021

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• Navigation-grade gyroscopes and accelerometers are well-known to have bias in their output. This bias contributes significantly to the error in the time-evolving position solution of the inertial navigation systems (INS). The innovation in this paper is the approach of modeling the bias at the solution level as linear function and estimating the bias using unbiased velocity measurement which is available in the sensor suite for underwater vehicles. Moreover, a model switching scheme is used to more accurately correct the position estimates when the vehicle maneuvers. Motion models for nearly straight line motion and turning models are used.