Yingwei Zhao, Xiangyuan Li, Jiaxing Zheng, Wenfeng Tan. Calibration of RLG-INS/EML integrated navigation system considering current velocity[J]. Infrared and Laser Engineering, 2023, 52(6): 20230142
- Infrared and Laser Engineering
- Vol. 52, Issue 6, 20230142 (2023)
Fig. 1. Relationship between b -frame and d -frame
Fig. 2. Trajectory of calibration experiment in simulation
Fig. 3. Current velocity estimation after first filtering
Fig. 4. Installation error estimation after first filtering
Fig. 5. Scale factor estimation after first filtering
Fig. 6. Current velocity residual after third filtering
Fig. 7. Installation error residual after third filtering
Fig. 8. Scale factor residual after third filtering
Fig. 9. Trajectory of calibration experiment with EML
Fig. 10. Current velocity residual in the marine experiment with EML
Fig. 11. Installation error residual in the marine experiment with EML
Fig. 12. Scale factor residual in the marine experiment with EML
Fig. 13. Position error comparison between with and without calibration in the marine experiment
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Table 1. Specification of experimental devices
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Table 2. Initial calibration parameter
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Table 3. Specification of experimental devices with EML
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Table 4. Calibration result
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