{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T14:33:13Z","timestamp":1774276393970,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,12,2]],"date-time":"2018-12-02T00:00:00Z","timestamp":1543708800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004750","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["20165853041"],"award-info":[{"award-number":["20165853041"]}],"id":[{"id":"10.13039\/501100004750","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An inertially stabilized platform (ISP) is generally equipped with a position and orientation system (POS) to isolate attitude disturbances and to focus surveying sensors on interesting targets. However, rotation of the ISP will result in a time-varying lever arm between the measuring center of the inertial measurement unit (IMU) and the phase center of the Global Positioning System (GPS) antenna, making it difficult to measure and provide compensation. To avoid the complexity of manual measurement and improve surveying efficiency, we propose an automatic estimation method for the dynamic lever arm. With the aid of the ISP encoder data, we decompose the variable lever arm into two constant lever arms to be estimated on line. With a complete 21-dimensional state Kalman filter, we accurately and simultaneously accomplish navigation and dynamic lever arm calibration. Our observability analysis provides a valuable insight into the conditions under which the lever arms can be estimated, and we use the error distribution method to reveal which error sources are the most influential. The simulation results demonstrate that the dynamic lever arm can be estimated to within [0.0104; 0.0110; 0.0178] m, an accuracy that is equivalent to the positioning accuracy of Carrier-phase Differential GPS (CDGPS).<\/jats:p>","DOI":"10.3390\/s18124230","type":"journal-article","created":{"date-parts":[[2018,12,3]],"date-time":"2018-12-03T06:02:09Z","timestamp":1543816929000},"page":"4230","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Automatic Estimation of Dynamic Lever Arms for a Position and Orientation System"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6895-7923","authenticated-orcid":false,"given":"Qiangwen","family":"Fu","sequence":"first","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Sihai","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9558-5942","authenticated-orcid":false,"given":"Yang","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Qi","family":"Zhou","sequence":"additional","affiliation":[{"name":"Science and Technology on Aircraft Control Laboratory, FACRI, Xi\u2019an 710065, China"}]},{"given":"Feng","family":"Wu","sequence":"additional","affiliation":[{"name":"Shanghai Aerospace Control Technology Institute, Shanghai 201109, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ma, Y., Fang, J., and Cheng, J. (2012, January 11\u201313). The Model of Multi-level Lever-arm in Position and Orientation System. Proceedings of the IEEE International Symposium on Instrumentation and Control Technology (ISICT), London, UK.","DOI":"10.1109\/ISICT.2012.6291614"},{"key":"ref_2","unstructured":"Liu, Z., and Fang, J. (2012, January 11\u201313). Experimental Study of POS Lever-arm Error Compensation. Proceedings of the IEEE International Symposium on Instrumentation and Control Technology (ISICT), London, UK."},{"key":"ref_3","unstructured":"Mostafa, M., Hutton, J., Reid, B., and Hill, R. (2001). GPS\/IMU Products\u2014The Applanix Approach. Proceedings of the Photogrammetric Week, Wichmann. Available online: http:\/\/www.navmatica.com\/wp-content\/uploads\/2014\/02\/M_Mostafa_ PHOWO_2001_s1.pdf."},{"key":"ref_4","unstructured":"POS AV Datasheet (2018, June 30). Applanix, A Trimble Company. 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Astronaut."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4230\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:33:59Z","timestamp":1760196839000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4230"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,12,2]]},"references-count":36,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2018,12]]}},"alternative-id":["s18124230"],"URL":"https:\/\/doi.org\/10.3390\/s18124230","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,12,2]]}}}