A Comprehensive Calibration Algorithm Based on Kalman fliter for Inertial Navigation System
QIN Lixin
Abstract：In order to lift the restrictions that the inertial system in comprehensive correction must be in a horizontal damping condition ,this paper proposes an undamped comprehensive correction algthm based on Kalman filter .Firstly ,the ship is sailing with the undamped state ,and the Kalman fliter is used to real time estimate horizontal‐angle error based on the velocity observations .Secondly horizontal error of estimated angle is taken into the comprehensive correction algorithm for solving ,then the gyro drift is calculated and compensated .The simulation results show that the system is no longer subject to the horizontal damping conditions in the process of comprehensive correction and increase the long ‐term positioning accura‐cy of inertial navigation system is increased .
Keywords：inertial navigation system (INS)comprehensive calibrationKalman filterundamped
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 1912-1916 )