Title: Parking correction of strapdown inertial navigation system

Authors: Yan Zhang; Jianzhong Wang

Addresses: Department of Information Engineering, Chongqing Youth Vocational & Technical College, Chongqing, 400712, China ' Department of Information Engineering, Chongqing Youth Vocational & Technical College, Chongqing, 400712, China

Abstract: Laser gyroscope strapdown inertial navigation system can provide accurate navigation for carrier without depending on external information. Due to the enlargement of long-term cumulative navigation error, it needs to be revised at regular intervals, so its mobility is limited. In regard to the practical application of vehicle navigation, an adaptive zero velocity correction method is proposed. Fifteen basic error parameters are constructed by using the constraint condition of zero velocity. According to the error characteristics of the system itself, the state measurement matrix and equation of the system are designed. Based on the observability theory of general condition number, the observability of each state of the system is analysed and the parameters of Kalman filter are determined, which effectively improves the IMU navigation accuracy of inertial navigation components. Experiments show that this method can overcome the problem of frequent parking and effectively improve the navigation accuracy and mobility of the system.

Keywords: strapdown inertial navigation system; zero speed correction; attitude angle; error equation; Kalman filtering.

DOI: 10.1504/IJISE.2021.116924

International Journal of Industrial and Systems Engineering, 2021 Vol.38 No.4, pp.450 - 468

Received: 19 Jun 2019
Accepted: 08 Sep 2019
Published online: 09 Aug 2021 *

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