A Study on the Stand-alone Inertial Navigation System with low-cost Inertial Sensors

저급 관성센서를 이용한 독립적인 관성항법시스템에 관한 연구

This paper presents calibration and alignment algorithms for low-cost inertial sensors. The error models for gyro and accelerometer are presented with a study of their effects. A navigational Kalman Filter is derived based on those error models. Test results are presented, which shows the initial calibration and alignment scheme and the proposed filter configuration effectively reduce the drift of the sensors and provide improved accuracy for its practical use for navigation.