A fast in-field coarse alignment and bias estimation method for stationary intermediate-grade imus

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.