Quantization and colored noises error modeling for inertial sensors for GPS/INS integration

IEEE Sensors Journal

Volumn 11, Issue 6, 2011, Pages 1493-1503

  Han, Songlai ^a,b   Wang, Jinling ^b  

^a NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY   (China)

^b UNIVERSITY OF NEW SOUTH WALES   (Australia)

Author keywords

Error modeling; GPS INS; inertial sensor; integration; Kalman Filter

Indexed keywords

COLORED NOISE; ERROR DYNAMICS; ERROR MODELING; EXPERIMENTAL TEST; GPS/INS; GPS/INS INTEGRATION; INERTIAL SENSOR; INS ERRORS; MODELING APPROACH; NAVIGATION SOLUTION; QUANTIZATION NOISE; STOCHASTIC ERRORS;

DIFFERENTIAL EQUATIONS; INERTIAL NAVIGATION SYSTEMS; INTEGRATION; KALMAN FILTERS; NAVIGATION; SENSORS;

WHITE NOISE;

EID: 79955389881     PISSN: 1530437X     EISSN: None     Source Type: Journal    
DOI: 10.1109/JSEN.2010.2093878     Document Type: Article

References (34)

1. P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems. Norwood, MA: Artech House, 2008, p. 363.
2. A. A. Morgan, "Calibration of an inertial sensor system," U.S. Patent 5 421 187, Jun. 6, 1995.
3. A. S. Oravetz and H. J. Sandberg, "Stationary and nonstationary characteristic of gyro drift rate," AIAA J., vol. 8, no. 10, pp. 1765-1766, 1970.
4. S. M. Pandit and W. Zhang, "Modeling random gyro drift rate by data dependent systems," IEEE Trans. Aerosp. Electron. Syst., vol. 22, no. 4, pp. 455-460, Jul. 1986. (Pubitemid 16629776)
5. S. Nassar, K. P. Schwarz, A. Noureldin, and N. El-Sheimy, "Modeling inertial sensor errors using autoregressive (AR) models," in Proc. ION NTM 2003, Anaheim, CA, 2003, pp. 116-125.
6. S. Nassar, K. P. Schwarz, and N. El-Sheimy, "INS and INS/GPS accuracy improvement using autoregressive (AR) modeling of INS sensor errors," in Proc. ION NTM 2004, San Diego, CA, 2004, pp. 936-944.
7. R. L. Hammon, "An application of random process theory to gyro drift analysis," IRE Trans. Aeronaut. Nav. Electron., vol. 7, no. 3, pp. 84-91, Sep. 1960.
8. R. L. Hammon, "Effects on inertial guidance systems of random error sources," IRE Trans. Aeronaut. Nav. Electron, vol. 9, no. 4, pp. 215-230, Dec. 1962.
9. B. Danik, "The least-square approximation of inertial platform drift," IEEE Trans. Aerosp. Electron. Syst., vol. 2, no. 5, pp. 591-594, Sep. 1966.
10. K. P. Schwarz and M.Wei, "INS/GPS integration for geomatics," Dept. Geomatics Engineering, Univ. Calgary. Calgary, AB, Canada, pp. 34-42, 2001.
11. J. Wang, H. K. Lee, S. Hewitson, and H. K. Lee, "Influence of dynamics and trajectory on integrated GPS/INS navigation performance," J. Global Positioning Syst., vol. 2, no. 2, pp. 109-116, Dec. 2003.
12. H. Kim, J. G. Lee, and C. G. Park, "Performance improvement of GPS/INS integrated system using Allan Variance analysis," in Proc. Int. Symp. GPS/GNSS 2004, Sydney, Australia, 2004.
13. D. Grejner-Brzezinska, C. Toth, and Y. Yi, "On improving navigation accuracy of GPS/INS systems," Photogrammetric Engineering Remote Sensing, vol. 71, no. 4, pp. 377-389, Apr. 2005. (Pubitemid 44112532)
14. S. Han and J. Wang, "Monitoring the degree of observability in integrated GPS/INS systems," in Proc. Int. Symp. GPS/GNSS 2008, Tokyo, Japan, 2008, pp. 414-421.
15. Y. Yi, "On improving the accuracy and reliability of GPS/INS-based direct sensor georeferencing," Ph.D. dissertation, Dept. Geodetic Science and Surveying, Ohio State Univ., Columbus, OH, 2007, pp. 102..
16. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros, IEEE Standard 952, 1997, pp. 62-73.
17. A. Dushman, "On gyro drift models and their evaluation," IRE Trans. Aeronaut. Nav. Electron., vol. 9, no. 4, pp. 230-234, Dec. 1962.
18. S. Nassar and N. El-Sheimy, "A combined algorithm of improving INS error modeling and sensor measurements for accurate INS/GPS navigation," GPS Solutions, vol. 10, no. 1, pp. 29-39, Jul. 2006. (Pubitemid 43234593)
19. H. J. Lee and S. Jung, "Gyro sensor drift compensation by Kalman filter to control a mobile inverted pendulum robot system," in Proc. IEEE Conf. Ind. Technol., Gippsland, Australia, 2009, pp. 1-6.
20. D. W. Allan, "Statistics of atomic frequency standards," Proc. IEEE, vol. 54, no. 2, pp. 221-230, Feb. 1966.
21. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros, IEEE Standard 647, 2006, pp. 74.
22. H. Hou and N. El-Sheimy, "Inertial sensors errors modeling using Allan Variance," in Proc. ION GPS/GNSS 2003, Portland, OR, 2003, pp. 2860-2867.
23. N. El-Sheimy, H. Hou, and X. Niu, "Analysis and modeling of inertial sensors using Allan Variance," IEEE Trans. Instrum. Meas., vol. 57, no. 1, pp. 140-149, Jan. 2008.
24. M. M. Tehrani, "Ring laser gyro data analysis with cluster sampling technique," in Proc. Fiber Optics and Laser Sensors, Arlington, VA, 1983, pp. 207-220. (Pubitemid 14499714)
25. L. C. Ng, "On the application of Allan Variance method for ring laser gyro performance characterization," Lawrence Livermore National Lab., Livermore, CA, Rep. No. UCRL-ID-115695, 1993.
26. L. C. Ng and D. J. Pines, "Characterization of ring laser gyro performance using the Allan Variance method," J. Guidance, Control, and Dynamics, vol. 20, no. 1, pp. 211-214, Jan. 1997. (Pubitemid 127561084)
27. R. G. Brown and P. Y. C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd ed. New York: Wiley, 1997, pp. 193, 225-228, 290.
28. P. G. Savage, "Analytical modeling of sensor quantization in strapdown inertial navigation error equations," J. Guidance, Control and Dynamics, vol. 25, no. 5, pp. 833-842, Sep. 2002. (Pubitemid 35170770)
29. P. Savage, Strapdown Analytics, Maple Plain. Maple Plain, MN: Strapdown Associates, Inc., 2000, pp. 12-112-12-124.
30. D. Goshen-Meskin and I. Y. Bar-Itzhack, "Unified approach to inertial navigation system error modeling," J. Guidance, Control and Dynamics, vol. 15, no. 3, pp. 648-653, May 1992. (Pubitemid 23627775)
31. A. Papoulis, Probability, Random Variables, and Stochastic Processes, 3rd ed. New York: McGraw-Hill, 1991, p. 295.
32. R. D. Yates and D. J. Goodman, Probability and Stochastic Processes. New York: Wiley, 1998, p. 328.
33. K. Ogata, Mordern Control Engineering, 4th ed. Englewood Cliffs, NJ: Prentice-Hall, 2002, p. 286, 754.
34. C-MIGITS II Integrated GPS/INS User's Guide. Anaheim, CA: Boeing North American Inc., 1997