Parking correction of strapdown inertial navigation system Online publication date: Mon, 09-Aug-2021
by Yan Zhang; Jianzhong Wang
International Journal of Industrial and Systems Engineering (IJISE), Vol. 38, No. 4, 2021
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.
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