Automatic alignment and calibration of an inertial navigation system. Saab, S. and Gunnarsson, K. In Proceedings of the IEEE Position Location and Navigation Symposium, pages 845 -852, apr, 1994.
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In this paper we derive a simple six degree of freedom navigator, Earth-surface navigator, for terranean vehicle application, using low grade gyros. The calibration and alignment of the navigator are investigated when the system is at rest. Based on the observability of the error model when the system is at rest, a state transformation is presented. This transformation decouples the observable modes, which are based on physical insight from the unobservable modes. An example is given to illustrate the performance of a Kalman filter for calibration and alignment
@InProceedings{Saab1994,
  Title                    = {Automatic alignment and calibration of an inertial navigation system},
  Author                   = {Saab, S.S. and Gunnarsson, K.T.},
  Booktitle                = {Proceedings of the IEEE Position Location and Navigation Symposium},
  Year                     = {1994},
  Month                    = {apr},
  Pages                    = {845 -852},

  Abstract                 = {In this paper we derive a simple six degree of freedom navigator, Earth-surface navigator, for terranean vehicle application, using low grade gyros. The calibration and alignment of the navigator are investigated when the system is at rest. Based on the observability of the error model when the system is at rest, a state transformation is presented. This transformation decouples the observable modes, which are based on physical insight from the unobservable modes. An example is given to illustrate the performance of a Kalman filter for calibration and alignment},
  Doi                      = {10.1109/PLANS.1994.303400},
  Keywords                 = {Earth-surface navigator;Kalman filter;automatic alignment;automatic calibration;calibration;error model observability;gyros;inertial navigation system;observable modes;performance;terranean vehicle application;unobservable modes;Kalman filters;calibration;gyroscopes;inertial navigation;},
  Timestamp                = {2011.07.19}
}
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