Accurate estimation of lever arm in SINS/GPS integration by smoothing methods

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• 作者：Yanhai Ma ; Jiancheng Fang ; Jianli Li
• 关键词：Kalman Filter (KF) ; Lever arm ; Observability ; Rauch-Tung-Striebel smoother (RTSS) ; SINS/GPS integration ; Two-filter smoother (TFS)
• 刊名：Measurement
• 出版年：February, 2014
• 年：2014
• 卷：48
• 期：Complete
• 页码：119-127
• 全文大小：1205 K

文摘

The direct accurate measurement of lever arm in an integration of Strapdown Inertial Navigation System/Global Positioning System (SINS/GPS) is difficult for airborne applications. In this paper, the lever arm was estimated by KF in taking-off stage, sensing-task stage, landing-over stage, respectively. The estimation precision of lever arm in taking-off stage can be up to 2 cm, which is better than that in other flying stages. According to known observability analysis conclusions, the optimal angular maneuver occurred in taking-off stage, which is most suitable for lever arm estimation. To exceed the estimation precision based on KF, two smoothing methods including Rauch-Tung-Striebel smoother (RTSS) and two-filter smoother (TFS) were developed for precise lever arm estimation. Both RTSS and TFS were applied to the taking-off stage and a millimeter鈥檚 estimation precision of lever arm was acquired, which improves the estimation precision by an order of magnitude.