Name: Inertial Labs INS-P
Brand: Inertial Labs
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INS

GUI User’s Manual

Inertial Labs, Inc

Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com

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10.4. Calibration of the INS

For correct operation of the INS it is necessary that the calibrated sensors

are not distorted by external influences. It is particularly important to provide

non-distortion of the INS magnetic channel, as, due to the presence of the

carrier’s hard and soft iron in the vicinity to the INS, its magnetometers will

be outputting inaccurate data on the actual Earth magnetic intensity vector,

and, accordingly, inaccurate carrier’s heading angle value.

The Inertial Labs INS software allows compensation of influence of the

carrier object soft and hard iron on the heading angle calculation accuracy.

For this purpose, field calibration of the INS magnetometers is provided.

This calibration does not require any additional equipment, but it requires

turns of the carries object on which the INS is mounted.

Note INS does not require calibration of its magnetometers on

hard/soft iron if “Use_mags” switch is disabled in the “Settings” tab of

“Correction options…” window Fig. 4.24.

The INS can be calibrated using 2D, 3D, VG3D or 2D-2T calibration

procedure. Also on-the-fly VG3D calibration is provided (see section 10.4.4).

2D calibration is designed for carrier objects that move with small pitch and

roll angles (not more than a few degrees). The calibration procedure

involves a few full 360 rotations in the horizon plane of the carrier object

with the installed INS (see Fig. 10.4). During this calibration pitch and roll

angles must be as close to zero as possible.

3D calibration is designed for carrier objects that can operate with large

pitch and roll angles. For this calibration the carrier object is rotated in the

horizon plane (the Z-axis is up) with periodical stops about each 90 degrees

for tilting in pitch and roll (see Fig. 10.4 – Fig. 10.6). After full 360 rotation

the object with the INS is turned over (the Z-axis is down) and the procedure

described above should be repeated. During this calibration the range of

pitch and roll angles changing must be as much as possible.

Inertial Labs INS-P User Manual

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