Design, Development, Analysis, and Laboratory Test Results of a Kalman Filter System-Level IMU Calibration Technique
Final rept. Jul 1973-Nov 1975
AIR FORCE AVIONICS LAB WRIGHT-PATTERSONAFB OH
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The United States Air Force Avionics Laboratory at Wright-Patterson Air Force Base, Ohio, is presently conducting inhouse advanced aided-inertial navigation software development programs. This report describes the design, development, analysis, and laboratory test results of an IMU calibration and error model development methodology formulated to support the design and test of inertial navigation software and associated Kalman Filters. The IMU error analysis methodology incorporates a 68-state Kalman Filter and uses only system- level IMU velocity and gimbal angle measurements taken during a two and a half hour, twelve-platform attitude test to estimate IMU significant error sources relative to the inertial instrument random disturbances. The Kalman Filter incorporates a number of error model residual states which provide a measure of the degree to which the test article conforms to the assumed IMU error model. IMU error parameter estimation can be accomplished either on-line in real time or off-line using recorded IMU measurements. Results obtained from both a CDC- 6600 computer simulation of the IMU calibration problem and a laboratory development program indicate that the technique is conceptually more comprehensive and accurate, and requires less specialized test equipment and test time than conventional calibration methods. The technique appears to be a likely candidate for IMU acceptance and intermediate and depot level maintenance tests.
- Numerical Mathematics
- Computer Programming and Software