Identification of coefficients in platform drift error model

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Identification of coefficients in platform drift error model

The identification of the coefficients in the drift error model of a floated gyro inertial navigation platform was investigated by following the principle of the inertial navigation platform and using gyro and accelerometer output models, and a complete platform drift error model was established, with parameters as state variables, thereby establishing the system state equation and observation equation. Since these two equations are both nonlinear, the Extended Kalman Filter (EKF) was adopted. Then the problem of parameter identification was converted into a problem of state estimation. During the simulation, multi position testing schemes were designed to motivated the parameters by gravity acceleration. Using these schemes, twenty four error coefficients of three gyros and six error coefficients of three accelerometers were identified, which showed the feasibility of this method.