A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal\r\ntechniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown inertial systems. The\r\nestimation problem is decoupled into two separate stages. At the first stage, inertial system attitude errors are corrected by means\r\nof a feedback from an external aid. In the presence of uncompensated biases, the steady-state feedback rebalances those biases and\r\ncan be used to estimate them. At the second stage, the desired bias estimates are expressed in a closed formin terms of the feedback\r\nsignal. The estimator has only three tunable parameters and is easy to implement and use. The tests proved the feasibility of the\r\nproposed approach for the estimation of low-cost MEMS inertial sensor biases on a moving land vehicle.
Loading....