INS stochastic error detection during kinematic tests and impacts on INS/GNSS performance

Autor:	Mark R. Morelande, Azmir Hasnur-Rabiain, Allison Kealy
Rok vydání:	2013
Předmět:	Computer Science::Robotics Computer science Control theory GNSS applications Geography Planning and Development GPS/INS Satellite system Kinematics Computers in Earth Sciences Static data Allan variance Stochastic error Inertial navigation system
Zdroj:	Geo-spatial Information Science. 16:169-176
ISSN:	1993-5153 1009-5020
Popis:	Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) integration requires accurate modelling of both INS deterministic and stochastic errors. The Allan Variance (AV) analysis on INS static data is one method of determining INS stochastic errors. However, it is known that INS errors can vary depending on a vehicle’s motion and environment, and application of AV results from static data in kinematic operations typically results in an over-confident estimation of stochastic. In order to overcome this limitation, this paper proposes the use of Dynamic Allan Variance (DAV). The paper compares the resulting performance of the INS/GNSS integrated system by varying the stochastic coefficients obtained from the AV and DAV. The results show that the performance improved when utilizing the stochastic coefficients obtained from the DAV, applied on a kinematic dataset compared to the AV, applied on a static laboratory dataset.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8ca98796714a74f8230001b57a8e068b https://doi.org/10.1080/10095020.2013.817108 Zobrazit plný text záznamu