Optimization of Inertial Localization by Differential Evolution Algorithm
نویسنده
چکیده
This paper solves a replacement of inertial sensor mechanical calibration by calculation of the calibration constants using differential evolution algorithm. In the first section a simplified mathematicphysical model of inertial navigation is described. Then we describe the inertial sensor errors and its calibration. Main part of the paper deals with determination of accelerometers and gyroscopes calibration constants using a differential evolution algorithm. The determination of constants is based on the difference between trajectory recorded by GPS receiver and trajectory calculated from inertial sensor data. Moreover, the cost function, structure of individuals and used control constants values of differential evolution algorithm are described. The results of work are given by graphical comparison of real trajectory from GPS and trajectories calculated from inertial sensor data with optimized and unoptimized calibration constants.
منابع مشابه
Developing Adaptive Differential Evolution as a New Evolutionary Algorithm, Application in Optimization of Chemical Processes
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