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Calibration Method for INS Based on Multiple Actuator Function

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  • Robot and Applications
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Abstract

This paper presents a calibration method based on a multiple actuator function (MAF) to improve the navigation performance of the inertial navigation system (INS). The navigation performance of the INS can be improved by utilizing a compensation function. Existing calibration methods model the compensation function based on calibration coefficients obtained by indirect calibration. In indirect calibration, the calibration coefficients are calculated using acceleration errors. However, errors such as random walks, white noise, and bias instability can affect the precision of the calculated calibration coefficients. These errors can degrade the accuracy of the calibration coefficients and the compensation function. To overcome these limitations, the proposed method models a compensation function based on the MAF. The accuracy of the compensation function is improved by the accurate actuator angle and actuator position of the MAF. Unlike indirect calibration, the precision of the MAF is improved exclusively by navigation performance. The accurate actuator angle is calculated by adopting gradient descent and Q-learning, and the accurate actuator position is calculated by adopting the Bhattacharyya coefficient. The accuracy and precision of the proposed calibration method is evaluated by static-state tests and vehicle tests. The results show that the proposed calibration method is a valid approach to improve the navigation performance of the INS.

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Author information

Authors and Affiliations

  1. Weapon Systems Engineering, University of Science and Technology, 217 Gajeong-ro, Yuseong-gu, Daejeon, 34113, Korea

    Yeong-Bin Seo

  2. Agency for Defense Development, Yuseong P.O. Box 35, Daejeon, 34186, Korea

    Haesung Yu & Myeong-Jong Yu

Authors
  1. Yeong-Bin Seo
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  2. Haesung Yu
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  3. Myeong-Jong Yu
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Corresponding author

Correspondence to Myeong-Jong Yu.

Additional information

Yeong-Bin Seo received his B.S. degree in mechanical information engineering from the University of Seoul, Korea, in 2015. Since 2015, he has been a Ph.D. student in weapon systems engineering at the University of Science and Technology. His research interests include inertial navigation systems, INS calibration, artificial intelligence, and autonomous driving systems.

Haesung Yu received his B.S. degree in mechanical engineering from Chungnam National University, Korea, in 2000, and received an M.S. degree from the Department of Mechanical Aerospace Engineering at Seoul National University, Korea, in 2002, and a Ph.D. degree in electrical engineering from Chungnam National University, Korea, in 2021. Since 2002, he has worked as a principal researcher at the Agency for Defense Development. His research interests include inertial navigation and satellite navigation.

Myeong-Jong Yu received his B.S. and M.S. degrees in electrical engineering from Kyungpook National University, Korea, in 1987 and 1990, respectively, and a Ph.D. degree in electrical engineering and computer science from Seoul National University, Korea, in 2002. Since 1990, he has worked as a principal researcher at the Agency for Defense Development. He is a professor at the University of Science and Technology, Korea. His research interests include hybrid inertial navigation systems, robust filters, adaptive filters, and nonlinear filters.

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Seo, YB., Yu, H. & Yu, MJ. Calibration Method for INS Based on Multiple Actuator Function. Int. J. Control Autom. Syst. 21, 244–256 (2023). https://doi.org/10.1007/s12555-021-0667-y

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