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Approach to direct coning/sculling error compensation based on the sinusoidal modelling of IMU signal
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kang, Chul Woo | - |
dc.contributor.author | Cho, Nam Ik | - |
dc.contributor.author | Park, Chan Gook | - |
dc.creator | 조남익 | - |
dc.date.accessioned | 2013-11-28T01:59:51Z | - |
dc.date.available | 2013-11-28T01:59:51Z | - |
dc.date.issued | 2013-06 | - |
dc.identifier.citation | IET Radar Sonar and Navigation Vol.7 No.5, pp. 527-534 | - |
dc.identifier.issn | 1751-8784 | - |
dc.identifier.uri | https://hdl.handle.net/10371/84280 | - |
dc.description.abstract | A direct coning mitigation algorithm based on the detection of a sinusoidal component in the gyro measurements is proposed. The coning error, which is one of dominant error sources affecting the accuracy of attitude computation in the inertial navigation system (INS), is induced by the sinusoidal motion such as a manoeuvre of vehicle or the vibration of a dithering of ring laser gyro. However, many researchers have developed coning error mitigation algorithms based on the higher-order polynomial model and its correction terms are extracted from the gyro output without faithful consideration of the periodicity of motion. Hence, the authors first detect and estimate the sinusoidal components from gyro measurements, and then find the higher-order correction terms from the estimated sinusoidal parameters. The authors also show that this algorithm can be applied to the mitigation of sculling error because of its duality to the coning motion. Simulation results show that the direct compensation algorithm works effectively for the navigation of vehicles with continuous and steady oscillations. Also, the rate table test with HG1700 inertial measurement unit (IMU) is conducted to show the effectiveness of proposed algorithm on real INS signal. | en |
dc.description.sponsorship | This research was supported by the NSL (National Space Lab) programme through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology (grant no. 20120005591), and supported by Fig. 12 Velocity error of D direction for pure sculling motion
Fig. 13 Rate table test with HG1700Fig. 14 Attitude result of rate table coning motion www.ietdl.org IET Radar Sonar Navig., 2013, Vol. 7, Iss. 5, pp. 527–534 533 doi: 10.1049/iet-rsn.2012.0094 & The Institution of Engineering and Technology 2013Korea DAPA and ADD under a fundamental research project (grant no. UD080015FD). | - |
dc.language.iso | en | en |
dc.publisher | Radar, Sonar & Navigation, IET | en |
dc.subject | 공학 | en |
dc.title | Approach to direct coning/sculling error compensation based on the sinusoidal modelling of IMU signal | en |
dc.type | Article | - |
dc.author.alternative | 강철우 | - |
dc.author.alternative | 조남익 | - |
dc.author.alternative | 박찬국 | - |
dc.identifier.doi | 10.1049/iet-rsn.2012.0094 | - |
dc.citation.journaltitle | IET Radar Sonar and Navigation | - |
dc.description.srnd | OAIID:oai:osos.snu.ac.kr:snu2013-01/102/0000004302/3 | - |
dc.description.srnd | SEQ:3 | - |
dc.description.srnd | PERF_CD:SNU2013-01 | - |
dc.description.srnd | EVAL_ITEM_CD:102 | - |
dc.description.srnd | USER_ID:0000004302 | - |
dc.description.srnd | ADJUST_YN:Y | - |
dc.description.srnd | EMP_ID:A072410 | - |
dc.description.srnd | DEPT_CD:430 | - |
dc.description.srnd | CITE_RATE:.924 | - |
dc.description.srnd | FILENAME:첨부된 내역이 없습니다. | - |
dc.description.srnd | DEPT_NM:전기·정보공학부 | - |
dc.description.srnd | EMAIL:nicho@snu.ac.kr | - |
dc.description.srnd | SCOPUS_YN:N | - |
dc.description.srnd | CONFIRM:Y | - |
dc.identifier.srnd | 2013-01/102/0000004302/3 | - |
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