Attitude sensors relative angular misalignment estimation in integrated navigation systems

Abstract

When using modern navigation systems as part of an on-board system, the navigation task can be solved in several ways: using positional, velocity and angular corrections, and systems using measurements of various physical nature—radio, such as short-range and long-range navigation radio systems, GLONASS/GPS satellite global navigation systems, optical—celestial navigation systems—can operate as correctors. The best performance of INS and its sensors (gyroscopes and accelerometers) errors estimation can be obtained when all types of correction are implemented simultaneously. At the same time, it is particularly difficult to implement correction according to attitude parameters due to the fact that the measuring axes of the INS and correctors may not match on board of moving objects. Such a mismatch is commonly called relative angular misalignment. The paper considers a possible approach to the attitude sensors relative angular misalignment estimation in integrated navigation systems (NS), carried out in motion when the NS is in operating mode.