INS stochastic error detection during kinematic tests and impacts on INS/GNSS performance

Hasnur-Rabiain, A, Kealy, A and Morelande, M 2013, 'INS stochastic error detection during kinematic tests and impacts on INS/GNSS performance', Geo-Spatial Information Science, vol. 16, no. 3, pp. 169-176.


Document type: Journal Article
Collection: Journal Articles

Title INS stochastic error detection during kinematic tests and impacts on INS/GNSS performance
Author(s) Hasnur-Rabiain, A
Kealy, A
Morelande, M
Year 2013
Journal name Geo-Spatial Information Science
Volume number 16
Issue number 3
Start page 169
End page 176
Total pages 8
Publisher Taylor & Francis Asia Pacific (Singapore)
Abstract Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) integration requires accurate modelling of both INS deterministic and stochastic errors. The Allan Variance (AV) analysis on INS static data is one method of determining INS stochastic errors. However, it is known that INS errors can vary depending on a vehicle's motion and environment, and application of AV results from static data in kinematic operations typically results in an over-confident estimation of stochastic. In order to overcome this limitation, this paper proposes the use of Dynamic Allan Variance (DAV). The paper compares the resulting performance of the INS/GNSS integrated system by varying the stochastic coefficients obtained from the AV and DAV. The results show that the performance improved when utilizing the stochastic coefficients obtained from the DAV, applied on a kinematic dataset compared to the AV, applied on a static laboratory dataset.
Subject Navigation and Position Fixing
Keyword(s) Dynamic Allan variance
Inertial sensor
INS dynamic dependent error
INS stochastic error
DOI - identifier 10.1080/10095020.2013.817108
Copyright notice © 2013 Wuhan University.
ISSN 1009-5020
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