An Intuitive Approach to Inertial Sensor Bias Estimation
Author
Source
International Journal of Navigation and Observation
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-02
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
A simple approach to gyro and accelerometer bias estimation is proposed.
It does not involve Kalman filtering or similar formal techniques.
Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown inertial systems.
The estimation problem is decoupled into two separate stages.
At the first stage, inertial system attitude errors are corrected by means of a feedback from an external aid.
In the presence of uncompensated biases, the steady-state feedback rebalances those biases and can be used to estimate them.
At the second stage, the desired bias estimates are expressed in a closed form in terms of the feedback signal.
The estimator has only three tunable parameters and is easy to implement and use.
The tests proved the feasibility of the proposed approach for the estimation of low-cost MEMS inertial sensor biases on a moving land vehicle.
American Psychological Association (APA)
Tereshkov, Vasiliy M.. 2013. An Intuitive Approach to Inertial Sensor Bias Estimation. International Journal of Navigation and Observation،Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-496817
Modern Language Association (MLA)
Tereshkov, Vasiliy M.. An Intuitive Approach to Inertial Sensor Bias Estimation. International Journal of Navigation and Observation No. 2013 (2013), pp.1-6.
https://search.emarefa.net/detail/BIM-496817
American Medical Association (AMA)
Tereshkov, Vasiliy M.. An Intuitive Approach to Inertial Sensor Bias Estimation. International Journal of Navigation and Observation. 2013. Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-496817
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-496817