Self-Alignment Techniques for Inertial Measurement Units
- 1 November 1975
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Aerospace and Electronic Systems
- Vol. AES-11 (6) , 1232-1247
- https://doi.org/10.1109/taes.1975.308181
Abstract
This paper presents the result of a study on self-alignment algorithms for inertial measurement units (IMU). The primary concern is the fine alignment of an inertial platform whose base is subject to vibration and whose sensors are subject to noise. The main contribution of the paper is a new self-alignment algorithm. The algorithm incorporates together the special property of platform kinematics and the concept of least square regression. Compared to the usual self-alignment algorithm, this algorithm gives a self-alignment which can be ten times more accurate and requires less computer time and memory. In addition, the new algorithm is less sensitive to erratic measurements and computational errors.Keywords
This publication has 2 references indexed in Scilit:
- Numerical Methods for Scientists and Engineers.Journal of the Royal Statistical Society. Series A (General), 1962
- A New Approach to Linear Filtering and Prediction ProblemsJournal of Basic Engineering, 1960