On the Identification of Inertial Measurement Unit Error Parameters

摘要

The problem of identifying the error parameters associated with inertial measurement units is considered in this report. This is an important practical problem which is included in a large class of system parameter identification problems. A general approach for formulating the many possible inertial measurement unit (IMU) error parameter configurations is given, and specific realizations are specified in detail. The formulation is such that time correlated environmental and observational random disturbances can be incorporated. Experimental results showing the effects of state and observation noise power levels, and the nominal trajectory on the identification of the error parameters for three specific configurations are presented. These results indicate that a meaningful optimization problem can be formulated in terms of the nominal trajectory variables. The problem is then considered as an optimal control problem with the cost being a functional of the estimation covariance matrix and the controls, where certain nominal trajectory variables are considered as the controls. The question of the existence of optimal controls, the necessary conditions which the optimal controls must satisfy, and the computational aspects for computing the optimal controls are considered. (Author)