Factors Affecting Accuracy:
- Sensor Errors:
- Accelerometer errors (such as bias, scale factor errors, noise, etc.) and gyroscope errors (such as bias drift, noise, scale factor errors, etc.) are key determinants of the accuracy of inertial navigation systems.
- Over time, sensor errors accumulate, which impacts the accuracy of position and attitude estimation.
- System Integration Errors:
- The integration of errors between accelerometers and gyroscopes, sensor calibration, and other hardware configurations (such as antennas and computer systems) also affect overall accuracy.
- Initial Conditions and Alignment Accuracy:
- Errors in setting initial position, velocity, or attitude, or misalignment errors can reduce the overall accuracy of the inertial navigation system. Therefore, the startup and initial alignment phase of the inertial navigation system is critical.
- External Interference:
- External factors such as magnetic fields, temperature variations, vibrations, etc., can affect sensor performance and, consequently, accuracy.
Optimization of Inertial Navigation System Accuracy:
- External Auxiliary Sensors:
- Sensors such as GPS, vision sensors, and magnetometers can provide supplementary information to reduce error accumulation in the inertial navigation system.
- Fusion Algorithms:
- Algorithms like Kalman Filter can fuse data from different sensors, thereby improving system accuracy.
- High-Precision Inertial Sensors:
- Using high-quality accelerometers and gyroscopes can significantly improve system accuracy, especially in controlling errors over extended periods of operation.
