Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 94

The individual sensor input axes within an inertial sensor assembly (ISA) must be aligned to a common reference frame, and this can be combined with sensor‐level calibration of all sensor compensation parameters, as illustrated in Figure 3.5. Figure 3.7 illustrates how input axis misalignments and scale factors at the ISA level affect sensor outputs, in terms of how they are related to the linear input–output model,

(3.1)

(3.2)

where is a vector representing the inputs (accelerations or rotation rates) to three inertial sensors with nominally orthogonal input axes, is a vector representing the corresponding outputs, is a vector of sensor output biases, and the corresponding elements of are labeled in Figure 3.7.

Figure 3.7 Directions of modeled sensor cluster errors.