Print Email Facebook Twitter Towards in-field and online calibration of inertial navigation systems using moving horizon estimation Title Towards in-field and online calibration of inertial navigation systems using moving horizon estimation Author Girrbach, Fabian (Albert-Ludwigs-Universität Freiburg; Xsens Technologies) Zandbergen, Raymond (Xsens Technologies) Kok, M. (TU Delft Team Jan-Willem van Wingerden) Hageman, Tijmen (Xsens Technologies) Bellusci, Giovanni (Xsens Technologies) DIehl, Moritz (Albert-Ludwigs-Universität Freiburg) Date 2019 Abstract Inertial sensors are used in an increasing number of autonomous applications. Integrating such sensors into dynamic systems, the problem of their calibration arises naturally. Existing methods often require the sensor to be accurately placed in certain poses, which can be infeasible in practice. In this paper, we present an optimization-based estimator for in-field identification of inertial biases and scale factors. Instead of predefined poses, we use measurements of an accurate global navigation satellite system receiver in the calibration algorithm. By adopting a moving horizon scheme, the resulting estimator has the potential to run on embedded hardware allowing for online calibration without sacrificing robustness. We also present an approach for the simulation of realistic sensor data. The resulting datasets are used to analyze the performance of the optimization-based estimator. The evaluated statistics clearly show that moving horizon estimation improves the robustness and accuracy of the presented calibration approach in the presence of uncertain initial conditions and outperforms traditional recursive filters. To reference this document use: http://resolver.tudelft.nl/uuid:bd66cac3-b845-4632-a6a9-68391f12dcb1 DOI https://doi.org/10.23919/ECC.2019.8796310 Publisher IEEE, Piscataway, NJ, USA Embargo date 2020-02-15 ISBN 978-3-907144-00-8 Source Proceedings of the 18th European Control Conference (ECC 2019) Event ECC 2019: 18th European Control Conference, 2019-06-25 → 2019-06-28, Napoli, Italy Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2019 Fabian Girrbach, Raymond Zandbergen, M. Kok, Tijmen Hageman, Giovanni Bellusci, Moritz DIehl Files PDF Towards_In_Field_and_Onli ... mation.pdf 527.06 KB Close viewer /islandora/object/uuid:bd66cac3-b845-4632-a6a9-68391f12dcb1/datastream/OBJ/view