Ding Li, Xudong Yu, Guo Wei, Hui Luo. Optimal calibration method for nonorthogonal errors in dual-axis rotational RLG INS[J]. Infrared and Laser Engineering, 2023, 52(6): 20230148
- Infrared and Laser Engineering
- Vol. 52, Issue 6, 20230148 (2023)
Fig. 1. Nonorthogonal angles between IMU frame and inner rotating frame
Fig. 2. Nonorthogonal angles between inner rotating frame and outer rotating frame
Fig. 3. The flow diagram of PSO algorithm
Fig. 4. Dual-axis rotational laser INS
Fig. 5. Fitness value convergence process of PSO algorithm
Fig. 6. Vehicle pitch error
Fig. 7. Vehicle roll error
Fig. 8. Vehicle yaw error
Fig. 9. Vehicle attitude
Fig. 10. Attitude RMSE of 50 Monte Carlo test
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Table 1. IMU characteristics
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Table 2. PSO parameters
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Table 3. The calibration result of nonorthogonal angles
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Table 4. Vehicle attitude RMSE comparison
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