Periodic Bias Compensation Algorithm for Inertial Navigation System

- Journal title : Journal of Navigation and Port Research
- Volume 28, Issue 9, 2004, pp.803-808
- Publisher : Korean Institute of Navigation and Port Research
- DOI : 10.5394/KINPR.2004.28.9.803

Title & Authors

Periodic Bias Compensation Algorithm for Inertial Navigation System

Kim Hwan-Seong; Nguyen Duy Anh; Kim Heon-Hui;

Kim Hwan-Seong; Nguyen Duy Anh; Kim Heon-Hui;

Abstract

In this paper, an INS compensation algorithm is proposed using the accelerometer from IMU. First, we denote the basic INS algorithm and show that how to compensate the position error when low cost IMU is used. Second, considering the ship`s characteristic and ocean environments, we consider with a drift as a periodic external environment change which is affected with exact position. To develop the compensation algorithm, we use a repetitive method to reduce the external environment changes. Lastly, we verify the proposed algorithm through the experiments, where the acceleration sensor is used to acquire real data.

Keywords

Auto Sailing System;INS;IMU;Constant Bias;Periodic Bias;Position;Compensation;

Language

English

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