TY - GEN
T1 - Gyroscope drift estimation in tightly-coupled INS/GPS navigation system
AU - Gao, Wei
AU - Nie, Qi
AU - Zai, Guofu
AU - Jia, Hui
PY - 2007
Y1 - 2007
N2 - The objective of this paper is to analyze the estimation performance of gyroscope drifts in INS/GPS integrated navigation systems, while system is in motion. Strapdown inertial navigation system (SINS) error model is augmented by inertial sensor bias and drift and GPS clock bias and drift to improve the integration performance. To estimate the augmented state error, instead of GPS position, GPS pseudoranges and pseudorange rates are used. In tightly-coupled integration GPS and INS under different motion conditions, it is observed that the vertical gyro drift estimation is very weak in all cases of stationary, linear motion, and three-axis sway motion via kalman filter covariance analysis. In order to solve the vertical gyroscope drift estimation problem, zero update velocity (ZUPT) algorithm is proposed to improve the observability of vertical gyro drift. Computer simulation is carried out by this algorithm to validate the feasibility of the concept. The simulation results demonstrate that vertical gyro drift can be better estimated for the sake of compensation afterward.
AB - The objective of this paper is to analyze the estimation performance of gyroscope drifts in INS/GPS integrated navigation systems, while system is in motion. Strapdown inertial navigation system (SINS) error model is augmented by inertial sensor bias and drift and GPS clock bias and drift to improve the integration performance. To estimate the augmented state error, instead of GPS position, GPS pseudoranges and pseudorange rates are used. In tightly-coupled integration GPS and INS under different motion conditions, it is observed that the vertical gyro drift estimation is very weak in all cases of stationary, linear motion, and three-axis sway motion via kalman filter covariance analysis. In order to solve the vertical gyroscope drift estimation problem, zero update velocity (ZUPT) algorithm is proposed to improve the observability of vertical gyro drift. Computer simulation is carried out by this algorithm to validate the feasibility of the concept. The simulation results demonstrate that vertical gyro drift can be better estimated for the sake of compensation afterward.
UR - https://www.scopus.com/pages/publications/35248877167
U2 - 10.1109/ICIEA.2007.4318437
DO - 10.1109/ICIEA.2007.4318437
M3 - 会议稿件
AN - SCOPUS:35248877167
SN - 1424407370
SN - 9781424407378
T3 - ICIEA 2007: 2007 Second IEEE Conference on Industrial Electronics and Applications
SP - 391
EP - 396
BT - ICIEA 2007
T2 - 2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007
Y2 - 23 May 2007 through 25 May 2007
ER -