Observability Analysis of Alignment Errors in GPS/INS
Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multiantenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying...
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| Veröffentlicht in: | Journal of mechanical science and technology 2005-06, Vol.19 (6), p.1253-1267 |
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| container_title | Journal of mechanical science and technology |
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| creator | Lee, Mun Ki Hong, Sinpyo Lee, Man Hyung Kwon, Sun Hong Chun, Ho-Hwan |
| description | Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multiantenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm. |
| doi_str_mv | 10.1007/BF02984046 |
| format | Article |
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Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multiantenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.</description><identifier>ISSN: 1738-494X</identifier><identifier>EISSN: 1976-3824</identifier><identifier>DOI: 10.1007/BF02984046</identifier><language>eng</language><publisher>Seoul: 대한기계학회</publisher><subject>Acceleration ; Alignment ; Angular velocity ; Antenna arrays ; Applied sciences ; Attitudes ; Dynamic models ; Error analysis ; Error detection ; Errors ; Exact sciences and technology ; Industrial metrology. Testing ; Inertial sensing devices ; Levers ; Measurements common to several branches of physics and astronomy ; Mechanical engineering. Machine design ; Metrology, measurements and laboratory procedures ; Misalignment ; Physics ; Velocity, acceleration and rotation</subject><ispartof>Journal of mechanical science and technology, 2005-06, Vol.19 (6), p.1253-1267</ispartof><rights>2005 INIST-CNRS</rights><rights>The Korean Society of Mechanical Engineers (KSME) 2005.</rights><rights>The Korean Society of Mechanical Engineers (KSME) 2005</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c379t-7d05a1574c61837fd84138c793f7f59fbc475ba2bff1c14ae24977a643d58da13</citedby><cites>FETCH-LOGICAL-c379t-7d05a1574c61837fd84138c793f7f59fbc475ba2bff1c14ae24977a643d58da13</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27923,27924</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=16858159$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Lee, Mun Ki</creatorcontrib><creatorcontrib>Hong, Sinpyo</creatorcontrib><creatorcontrib>Lee, Man Hyung</creatorcontrib><creatorcontrib>Kwon, Sun Hong</creatorcontrib><creatorcontrib>Chun, Ho-Hwan</creatorcontrib><title>Observability Analysis of Alignment Errors in GPS/INS</title><title>Journal of mechanical science and technology</title><description>Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multiantenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.</description><subject>Acceleration</subject><subject>Alignment</subject><subject>Angular velocity</subject><subject>Antenna arrays</subject><subject>Applied sciences</subject><subject>Attitudes</subject><subject>Dynamic models</subject><subject>Error analysis</subject><subject>Error detection</subject><subject>Errors</subject><subject>Exact sciences and technology</subject><subject>Industrial metrology. Testing</subject><subject>Inertial sensing devices</subject><subject>Levers</subject><subject>Measurements common to several branches of physics and astronomy</subject><subject>Mechanical engineering. Machine design</subject><subject>Metrology, measurements and laboratory procedures</subject><subject>Misalignment</subject><subject>Physics</subject><subject>Velocity, acceleration and rotation</subject><issn>1738-494X</issn><issn>1976-3824</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNp10F1LAkEUBuAhCjLrpl-wFEEEm_P9cWmmJogGFnS3zM7OxMi6azNu4L9vRUkIujoHznNeOAeAawQfEYSi9zSCWEkKKT8BHaQET4nE9LTtBZEpVfTjHFzEuISQY4pQB7B5Hm341rkv_Wab9CtdbqOPSe2Sfuk_q5WtNskwhDrExFfJ-HXRm8wWl-DM6TLaq0PtgvfR8G3wkk7n48mgP00NEWqTigIyjZighiNJhCskRUQaoYgTjimXGypYrnHuHDKIaoupEkJzSgomC41IF9zvc9eh_mps3GQrH40tS13ZuokZwpwLDiUmLb35Q5d1E9pzYiYlFZAjwlp0-x_CQgpMMZG7qIe9MqGOMViXrYNf6bDNEMx2b86Ob27x3SFSR6NLF3RlfDxucMkkYuroqqYd2cLrXzObPw8hZEpRhMkPzpiEkw</recordid><startdate>20050601</startdate><enddate>20050601</enddate><creator>Lee, Mun Ki</creator><creator>Hong, Sinpyo</creator><creator>Lee, Man Hyung</creator><creator>Kwon, Sun Hong</creator><creator>Chun, Ho-Hwan</creator><general>대한기계학회</general><general>Korean Society of Mechanical Engineers</general><general>Springer Nature B.V</general><scope>DBRKI</scope><scope>TDB</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>S0W</scope></search><sort><creationdate>20050601</creationdate><title>Observability Analysis of Alignment Errors in GPS/INS</title><author>Lee, Mun Ki ; Hong, Sinpyo ; Lee, Man Hyung ; Kwon, Sun Hong ; Chun, Ho-Hwan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c379t-7d05a1574c61837fd84138c793f7f59fbc475ba2bff1c14ae24977a643d58da13</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Acceleration</topic><topic>Alignment</topic><topic>Angular velocity</topic><topic>Antenna arrays</topic><topic>Applied sciences</topic><topic>Attitudes</topic><topic>Dynamic models</topic><topic>Error analysis</topic><topic>Error detection</topic><topic>Errors</topic><topic>Exact sciences and technology</topic><topic>Industrial metrology. Testing</topic><topic>Inertial sensing devices</topic><topic>Levers</topic><topic>Measurements common to several branches of physics and astronomy</topic><topic>Mechanical engineering. Machine design</topic><topic>Metrology, measurements and laboratory procedures</topic><topic>Misalignment</topic><topic>Physics</topic><topic>Velocity, acceleration and rotation</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lee, Mun Ki</creatorcontrib><creatorcontrib>Hong, Sinpyo</creatorcontrib><creatorcontrib>Lee, Man Hyung</creatorcontrib><creatorcontrib>Kwon, Sun Hong</creatorcontrib><creatorcontrib>Chun, Ho-Hwan</creatorcontrib><collection>DBPIA - 디비피아</collection><collection>Korean Database (DBpia)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central</collection><collection>AUTh Library subscriptions: ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>DELNET Engineering & Technology Collection</collection><jtitle>Journal of mechanical science and technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lee, Mun Ki</au><au>Hong, Sinpyo</au><au>Lee, Man Hyung</au><au>Kwon, Sun Hong</au><au>Chun, Ho-Hwan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Observability Analysis of Alignment Errors in GPS/INS</atitle><jtitle>Journal of mechanical science and technology</jtitle><date>2005-06-01</date><risdate>2005</risdate><volume>19</volume><issue>6</issue><spage>1253</spage><epage>1267</epage><pages>1253-1267</pages><issn>1738-494X</issn><eissn>1976-3824</eissn><abstract>Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multiantenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.</abstract><cop>Seoul</cop><pub>대한기계학회</pub><doi>10.1007/BF02984046</doi><tpages>15</tpages></addata></record> |
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| identifier | ISSN: 1738-494X |
| ispartof | Journal of mechanical science and technology, 2005-06, Vol.19 (6), p.1253-1267 |
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| language | eng |
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| source | Springer journals |
| subjects | Acceleration Alignment Angular velocity Antenna arrays Applied sciences Attitudes Dynamic models Error analysis Error detection Errors Exact sciences and technology Industrial metrology. Testing Inertial sensing devices Levers Measurements common to several branches of physics and astronomy Mechanical engineering. Machine design Metrology, measurements and laboratory procedures Misalignment Physics Velocity, acceleration and rotation |
| title | Observability Analysis of Alignment Errors in GPS/INS |
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