A Novel Method for Alignment Calibration of IMU and Doppler Sensors
Mounting accuracy is of great importance to the performance of the Doppler-based navigation techniques. In this paper, a novel method for alignment calibration of IMU and Doppler sensors is presented. The presented scheme is based on the information from INS/GPS integration and Doppler. Different from previously reported techniques, not only the misalignments but also the scale factor error is considered in this study. By using a Kalman filter, the alignment matrix which is consisted of a misalignment matrix multiplying with a scale factor is estimated. The performance of the alignment estimates is evaluated with field experimental data over Yangzi River. Experimental results shown the estimates obtained by the proposed method perform much better than the existing solution. By using the proposed method, the accuracies of the transformed velocity and positioning are both increased.
Liangchi Zhang, Chunliang Zhang, Jeng-Haur Horng and Zichen Chen
W. L. Li and L. Q. Lu, "A Novel Method for Alignment Calibration of IMU and Doppler Sensors", Advanced Materials Research, Vols. 591-593, pp. 1178-1183, 2012