Great Circle Path INS Simulation with Sensor Errors:
The INS toolbox supports INS simulations of great circle paths including
errors. As an example, consider the path from New York to Istanbul.
The ideal path is plotted over a globe here.
A demo program is provided with the toolbox to show how the toolbox
functions may be used to simulate this scenario including sensor
errors. The following sensor errors are simulated:
- 40 micro-g x-accel bias
- 50 micro-g y-accel bias
- 0.01 deg/hr x-gyro bias
- 0.015 deg/hr y-gyro bias
- 0.009 deg/root-hour x-gyro white noise standard deviation
- 0.005 deg/root-hour y-gyro white noise standard deviation
The position, velocity and attitude errors produced by the simulation
are as follows:
On such a global scale, however, it is easier to think of position
error in terms of nautical miles rather than degrees of arc. The
toolbox provides for this with some convenient conversion programs.
At each point along the path, the (simulated) inertially-derived
position (lat/long) can be converted into local-level-tangent
coordinate system with the true vehicle position as the origin.
In this way the two components of horizontal position error are
calculated and may be root-sum-squared. The results shows a
navigation-grade INS with the typical nautical-mile-per-hour
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