HAL CCSD
Research on Static Decoupling Method of Non-Gyro Micro Inertial Measurement Unit
Ding, Mingli
Yang, Dongmei
Zhao, Jindong
Zhuang, Lili
Harbin Institute of Technology (HIT)
Part 1: Decision Support Systems, Intelligent Systems and Artificial Intelligence Applications
International audience
IFIP Advances in Information and Communication Technology
5th Computer and Computing Technologies in Agriculture (CCTA)
Beijing, China
Daoliang Li
Yingyi Chen
Springer
hal-01351792
https://inria.hal.science/hal-01351792
https://inria.hal.science/hal-01351792/document
https://inria.hal.science/hal-01351792/file/978-3-642-27281-3_8_Chapter.pdf
https://inria.hal.science/hal-01351792
5th Computer and Computing Technologies in Agriculture (CCTA), Oct 2011, Beijing, China. pp.54-64, ⟨10.1007/978-3-642-27281-3_8⟩
DOI: 10.1007/978-3-642-27281-3_8
info:eu-repo/semantics/altIdentifier/doi/10.1007/978-3-642-27281-3_8
en
Non-gyro micro measurement unit (NGMIMU)
decoupling
total least squares (TLS)
[INFO]Computer Science [cs]
info:eu-repo/semantics/conferenceObject
Conference papers
In a non-gyro micro inertial measurement unit (NGMIMU), the coupling error reduces the system measurement precision obviously. Based on the definition of the coupling error, a new static decoupling method applied total least squares (TLS) algorithm is proposed. TLS considers not only the error of accelerometer output, but also the calibrating error of the input signal arising from the couple factor. Based on TLS, the solution of the coupling coefficient equation has the characteristic of minimum norm to the input and output values. In the navigation parameter estimation, according to the relationship of the accelerometer input and output value, the accurate estimated input value can be acquired through fitting the couple coefficient matrix using TLS and reconstructing the input value using Moore-Penrose generalized inverse matrix. A simulation case for estimating angle rate is investigated by this approach. The results show that the ratio of decoupling error is less than 8% and verify the feasibility of the static decoupling method.
TC 5
WG 5.14
http://creativecommons.org/licenses/by/
2011-10-29
info:eu-repo/semantics/OpenAccess