@Article{SilvaHemeLeitKuga:2018:FaInCo,
author = "Silva, Felipe O. and Hemerly, Elder M. and Leite Filho, Waldemar
de Castro and Kuga, H{\'e}lio Koiti",
affiliation = "{Universidade Federal de Lavras (UFLA)} and {Instituto
Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and {Instituto
Nacional de Pesquisas Espaciais (INPE)} and {Instituto Nacional de
Pesquisas Espaciais (INPE)}",
title = "A fast in-field coarse alignment and bias estimation method for
stationary intermediate-grade IMUs",
journal = "IEEE Transactions on Instrumentation and Measurement",
year = "2018",
volume = "67",
number = "4",
pages = "831--838",
month = "Apr.",
keywords = "Coarse self-alignment, error analysis, rapid infield bias
estimation, stationary inertial measurement unit (IMU).",
abstract = "This paper presents an innovative in-field coarse bias estimation
(CBE) method for stationary intermediate-grade inertial
measurement units (IMUs), which is based on the existence of
normality and orthogonality errors in the attitude matrix supplied
by the traditional three-axis attitude determination stationary
coarse alignment (CA) stage. Differently from the currently
existing in-field bias estimation formulations, the proposed CBE
method is conceived to be conducted in stationary conditions,
jointly with the CA, and it allows the down accelerometer bias and
the north and down angular rate sensor biases to be adequately
estimated. As a main contribution of this paper, we demonstrate
that the proposed CBE method is able to greatly accelerate the
estimation process of the aforementioned biases, contributing,
hence, to shorten the IMU setup time. A comprehensive error
analysis is presented, and the conclusions are twofold: 1) the
proposed CBE method is valid regardless of the IMU orientation and
2) its estimation accuracy is mainly constrained by the north
accelerometer bias and the position location uncertainty, which
are, in general, very reduced. Results from simulated and
experimental test confirm the adequacy of the outlined
verifications, also attesting the superiority of the proposed CBE
method in situations where, due to time constraints, stationary
fine alignment procedures are not allowed to be carried out.",
doi = "10.1109/TIM.2017.2789138",
url = "http://dx.doi.org/10.1109/TIM.2017.2789138",
issn = "0018-9456",
language = "en",
targetfile = "silva_fast.pdf",
urlaccessdate = "25 abr. 2024"
}