The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications

J. K. Liao, T. T. Duong, Kai-Wei Chiang, T. H. Kuo

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

Nowadays, the navigation technology is used in vary applications, like vehicles, aircrafts, boats and even the pedestrian. The inertial sensors also applied in many domains, like activity recognition, robot control, navigation and so on. Therefore the good accuracy of Inertial Measurement Unit (IMU) will impact the performance of those applied systems. In order to improve and verify the accuracy of IMU, the step of calibration became important. The Fiber Optical Gyros (FOG) has more high accuracy than Micro Electro Mechanical System (MEMS) gyros. The calibration for those high grade sensors should be more precise and complete due to their high sensitivity [1]. This study will do the calibration based on six-position method with biaxial turntable and also calibrate the temperature effect. The results are based on the average equation and least square method to calculate the bias and scale factor. Furthermore, the trend of those parameters with different temperature also determined. The procedure based on the internal temperature provided by the built-in temperature sensor of the FOG IMU to calibrate the temperature effect. The dynamic six-position calibration implement repeatedly during the temperature changed. In other words, this procedure can calibrate the temperature effect without the temperature chamber. The trajectory of vehicle test based on loosely coupled GNSS/INS integrated navigation system with this FOG IMU is used to verify the accuracy and the effectiveness of the method. The IMU install on the Mobile Mapping System (MMS) which developed by National Cheng Kung University (NCKU). The analysis of performance and accuracy will do after the field test.

Original languageEnglish
Pages2204-2212
Number of pages9
Publication statusPublished - 2013 Jan 1
Event26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013 - Nashville, TN, United States
Duration: 2013 Sep 162013 Sep 20

Other

Other26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013
CountryUnited States
CityNashville, TN
Period13-09-1613-09-20

Fingerprint

Units of measurement
integrated system
Optical fibers
Calibration
Thermal effects
Navigation
Temperature
Phonographs
Sensors
Boats
Temperature sensors
trend
Navigation systems
robot
pedestrian
chamber
aircraft
performance
Trajectories
Aircraft

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Transportation

Cite this

Liao, J. K., Duong, T. T., Chiang, K-W., & Kuo, T. H. (2013). The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications. 2204-2212. Paper presented at 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013, Nashville, TN, United States.
Liao, J. K. ; Duong, T. T. ; Chiang, Kai-Wei ; Kuo, T. H. / The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications. Paper presented at 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013, Nashville, TN, United States.9 p.
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Liao, JK, Duong, TT, Chiang, K-W & Kuo, TH 2013, 'The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications' Paper presented at 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013, Nashville, TN, United States, 13-09-16 - 13-09-20, pp. 2204-2212.

The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications. / Liao, J. K.; Duong, T. T.; Chiang, Kai-Wei; Kuo, T. H.

2013. 2204-2212 Paper presented at 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013, Nashville, TN, United States.

Research output: Contribution to conferencePaper

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AU - Duong, T. T.

AU - Chiang, Kai-Wei

AU - Kuo, T. H.

PY - 2013/1/1

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N2 - Nowadays, the navigation technology is used in vary applications, like vehicles, aircrafts, boats and even the pedestrian. The inertial sensors also applied in many domains, like activity recognition, robot control, navigation and so on. Therefore the good accuracy of Inertial Measurement Unit (IMU) will impact the performance of those applied systems. In order to improve and verify the accuracy of IMU, the step of calibration became important. The Fiber Optical Gyros (FOG) has more high accuracy than Micro Electro Mechanical System (MEMS) gyros. The calibration for those high grade sensors should be more precise and complete due to their high sensitivity [1]. This study will do the calibration based on six-position method with biaxial turntable and also calibrate the temperature effect. The results are based on the average equation and least square method to calculate the bias and scale factor. Furthermore, the trend of those parameters with different temperature also determined. The procedure based on the internal temperature provided by the built-in temperature sensor of the FOG IMU to calibrate the temperature effect. The dynamic six-position calibration implement repeatedly during the temperature changed. In other words, this procedure can calibrate the temperature effect without the temperature chamber. The trajectory of vehicle test based on loosely coupled GNSS/INS integrated navigation system with this FOG IMU is used to verify the accuracy and the effectiveness of the method. The IMU install on the Mobile Mapping System (MMS) which developed by National Cheng Kung University (NCKU). The analysis of performance and accuracy will do after the field test.

AB - Nowadays, the navigation technology is used in vary applications, like vehicles, aircrafts, boats and even the pedestrian. The inertial sensors also applied in many domains, like activity recognition, robot control, navigation and so on. Therefore the good accuracy of Inertial Measurement Unit (IMU) will impact the performance of those applied systems. In order to improve and verify the accuracy of IMU, the step of calibration became important. The Fiber Optical Gyros (FOG) has more high accuracy than Micro Electro Mechanical System (MEMS) gyros. The calibration for those high grade sensors should be more precise and complete due to their high sensitivity [1]. This study will do the calibration based on six-position method with biaxial turntable and also calibrate the temperature effect. The results are based on the average equation and least square method to calculate the bias and scale factor. Furthermore, the trend of those parameters with different temperature also determined. The procedure based on the internal temperature provided by the built-in temperature sensor of the FOG IMU to calibrate the temperature effect. The dynamic six-position calibration implement repeatedly during the temperature changed. In other words, this procedure can calibrate the temperature effect without the temperature chamber. The trajectory of vehicle test based on loosely coupled GNSS/INS integrated navigation system with this FOG IMU is used to verify the accuracy and the effectiveness of the method. The IMU install on the Mobile Mapping System (MMS) which developed by National Cheng Kung University (NCKU). The analysis of performance and accuracy will do after the field test.

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Liao JK, Duong TT, Chiang K-W, Kuo TH. The Development of a FOG Based Tightly Coupled GNSS/INS Integrated System with Simple Temperature Compensation Method for Land Applications. 2013. Paper presented at 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2013, Nashville, TN, United States.