Modern terrain measurement systems use an inertial navigation system (INS) to measure and remove vehicle movement from laser measurements of the terrain surface. Instrumental and environmental biases inherent in the INS produce noise and drift errors in these measurements. The evolution and implications of terrain surface measurement techniques and existing methods for correcting INS drift are reviewed as a framework for a new compensation method for INS drift in terrain surface measurements. Each measurement is considered a combination of the true surface and the error surface, defined on a Hilbert vector space, in which the error is decomposed into drift (global error) and noise (local error). The global and local subspaces are constructed such that the drift is modeled as a random walk process and the noise is a zero-mean process. This theoretical development is coupled with careful experimental design to identify the drift component of error and discriminate it from true terrain surface features, thereby correcting the INS drift. It is shown through an example that this new compensation method dramatically reduces the variation in the measured surfaces to within the resolution of the measurement system itself.
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March 2011
Research Papers
Correcting INS Drift in Terrain Surface Measurements
Heather M. Chemistruck,
Heather M. Chemistruck
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540
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Robert Binns,
Robert Binns
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540
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John B. Ferris
e-mail: jbferris@vt.edu
John B. Ferris
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540
Search for other works by this author on:
Heather M. Chemistruck
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540
Robert Binns
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540
John B. Ferris
Virginia Polytechnic Institute and State University
, 150 Slayton Avenue, Danville, VA 24540e-mail: jbferris@vt.edu
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 021009 (8 pages)
Published Online: March 9, 2011
Article history
Received:
January 29, 2010
Revised:
August 2, 2010
Online:
March 9, 2011
Published:
March 9, 2011
Citation
Chemistruck, H. M., Binns, R., and Ferris, J. B. (March 9, 2011). "Correcting INS Drift in Terrain Surface Measurements." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 021009. https://doi.org/10.1115/1.4003098
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