An Error Compensation Method for Skewed Redundant Inertial Configuration

D. J. Allerton and H. Jia

Abstract:	This paper presents a new sensor error compensation method for non-orthogonal inertial sensor configurations, known as skewed-redundant inertial measurement units (SRIMU). The key issue of this method is that two misalignment angles for each sensor, which are orientation errors of a sensor-sensing axis relative to its designed instrument axis, can be represented by errors of the orientation angles for azimuth and elevation. Using a least-squares estimator, a generalised misalignment matrix can be formulated for SRIMU configurations. This method allows the errors of each physical inertial sensor to be estimated in a multisensor fusion navigation system by using various Kalman filtering techniques. This approach can also improve existing sensor failure detection and isolation techniques and provide better sensor error compensation. KEYWORDS: SRIMU configuration, Least-Squares Estimator, Sensor Calibration/Compensation.
Published in:	Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002) June 24 - 26, 2002 Hyatt Regency Hotel Albuquerque, NM
Pages:	142 - 147
Cite this article:	Allerton, D. J., Jia, H., "An Error Compensation Method for Skewed Redundant Inertial Configuration," Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002), Albuquerque, NM, June 2002, pp. 142-147.
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