Chao-Yu Hung, Chun-Min Fang, and Sou-Chen Lee
International Journal of Control, Automation, and Systems, vol. 4, no. 3, pp.351-358, 2006

Abstract : The proposed inertial measurement unit (IMU) is composed of accelerometers only. It can determine a vehicle’s position and attitude, which is the Gyro-free INS. The Gyro-free INS error is deeply affected by the sensor bias, scale factor and misalignment. However, these parameters can be obtained in the laboratory. After these misalignments are corrected, the Gyro-free strap-down INS could be more accurate. This paper presents a compensator design for the strap-down six-accelerometer INS to correct misalignment. A calibration experiment is taken to get the error parameters. A simulation results show that it will decrease the INS error to enhance the performance after compensation.

Keyword : Calibration, compensator, gyro-free INS, misalignment.