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An iterative calibration method for nonlinear coefficients of marine triaxial accelerometers

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Abstract

Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance. However, two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect. Firstly, the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers. Secondly, the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately. These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation. Based on the digital signal sampling property, the square coefficients and cross-coupling coefficients of accelerometers are considered. Meanwhile, the asymmetry scale factors are considered in the I-F conversion unit. Thus, a nonlinear model of specific force measurement is established compared to the linear model. Based on the three-axis turntable, the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers. Considering the nonlinear combination, the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure. Besides, an efficient specific force calculation model is approximately derived to reduce the real-time computation cost. Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients. The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.

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Authors and Affiliations

  1. Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073, China

    Jie Yang  (杨杰), Wen-qi Wu  (吴文启), Yuan-xin Wu  (武元新) & Jun-xiang Lian  (练军想)

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  1. Jie Yang  (杨杰)
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  2. Wen-qi Wu  (吴文启)
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  3. Yuan-xin Wu  (武元新)
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  4. Jun-xiang Lian  (练军想)
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Correspondence to Wen-qi Wu  (吴文启).

Additional information

Foundation item: Project(61174002) supported by the National Natural Science Foundation of China, Project(200897) supported by the Foundation of National Excellent Doctoral Dissertation of PR China; Project(NCET-10-0900) supported by the Program for New Century Excellent Talents in University, China; Project(131061) supported by the Fok Ying Tung Education Foundation, China

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Yang, J., Wu, Wq., Wu, Yx. et al. An iterative calibration method for nonlinear coefficients of marine triaxial accelerometers. J. Cent. South Univ. 20, 3103–3115 (2013). https://doi.org/10.1007/s11771-013-1834-y

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  • DOI: https://doi.org/10.1007/s11771-013-1834-y

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