IMU Single-axis Rotation Method and Error Analysis of Modulation Inertial Navigation System

doi:10.16182/j.issn1004731x.joss.201806052

Abstract

Abstract: Aiming at the problem that inertial device bias has an influence on the improvement of system precision, a single axis error modulation scheme whose sensitive axis is misalignment with rotation axis which can continuously rotate in clockwise and counterclockwise is proposed. Based on the same level precision of inertial components in IMU, the IMU is installed on rotation mechanism with non-coincidence. The symmetric part of inertial device deviation can be compensated by the positive and negative cancellation of the device deviation in the rotation axis direction and the rotation modulation in the vertical plane of the rotary axis. The scheme influence on system precision by improving inertial device scale factor and installation error is analyzed. Simulation experiment environment is built and the feasibility and advantage of the scheme is verified by its simulation results.

Key words: inertial navigation system, error modulation, single-axis rotation, non-coincidence

CLC Number:

U666.1

Sun Wei, Li Ruibao, Zhang Yuan, Yang Dan. IMU Single-axis Rotation Method and Error Analysis of Modulation Inertial Navigation System[J]. Journal of System Simulation, 2018, 30(6): 2414-2421.

References

[1] Levinson E, Willcocks M.The next generation marine inertial navigation is here now[C]// EEE Position Location and Navigation Symposium, 1994: 121-127.
[2] Terry T, Emanuel L.The AN/WSN-7B marine gyrocompass/navigator[C]// ceedings of the 2000 National Technical Meeting of the Institute of Navigation, 2000: 348-357.
[3] 刘洁瑜, 蔚国强, 杨建业. 双轴连续旋转激光捷联惯导误差高精度补偿方法[J]. 系统工程与电子技术, 2015, 37(1): 148-154.
Liu Jieyu, Yu Guoqiang, Yang Jianye.High precision error compensation method for double-axis rotation modulated laser strapdown inertial navigation system[J]. Systems Engineering and Electronics, 2015, 37(1): 148-154.
[4] 王学运, 吕妍红, 王玮, 等. MEMS器件捷联惯导系统旋转调制技术[J]. 东北大学学报(自然科学版), 2014, 35(4): 494-498.
Wang Xueyun, Lü Yanhong, Wang Wei, et al.Rotation Modulation for Strap-Down Inertial Navigation System Based on MEMS Sensors[J]. Journal of Northeastern University(Natural Science), 2014, 35(4): 494-498.
[5] Sun W, Wang D X, Xu L W, et al.MEMS-based Rotary Strapdown Inertial Navigation System[J]. Measurement (S0263-2241), 2013, 46(8): 2585-2596.
[6] Sun W, Gao Y.Fiber-based Rotary Strapdown Inertial Navigation System[J]. Optical Engineering (S0091-3286), 2013, 52(7): 1-12.
[7] 孙枫, 孙伟. 基于双轴转位机构的光纤陀螺标定方法研究[J]. 控制与决策, 2010, 25(12): 1870-1874.
Sun F, Sun W.Research on the Calibration of IFOG Based on the Two-axis Indexing[J]. Control and Design, 2010, 25(12): 1870-1874.
[8] 覃方君, 李安, 许江宁. 载体角运动对旋转调制惯导系统误差影响分析[J]. 武汉大学学报(信息科学版), 2012, 37(7): 831-833.
Qin Fangjun, Li An, Xu jiangning. Analysis of Errors of Rotating Modulation INS Effected by Angular Motion of Vehicle[J]. Geomatics and Information Science of Wuhan University, 2012, 37(7): 831-833.
[9] 于旭东, 王宇, 张鹏飞, 等. 单轴旋转对惯导系统误差特性的影响[J]. 惯性技术学报, 2008, 16(6): 643-648.
Yu X D, Wang Y, Zhang P F, et al.Influence of single-axial rotation on INS error characteristics[J]. Journal of Chinese Inertial Technology, 2008, 16(6): 643-648.
[10] 孙枫, 王秋滢. 三轴旋转捷联惯导系统旋转方案设计[J]. 仪器仪表学报, 2013, 34(1): 65-72.
Sun F, Wang Q Y.Rotation scheme design for modulated SINS with three rotating axes[J]. Chinese Journal of Scientific Instrument, 2013, 34(1): 65-72.
[11] Tirerton D H, Weston J L.Strapdown Inertial Navigation Technology[M]. Second Edition. Reston: Copublished by the American institute of Aeronautics and Astronautics and the Institution of Electrical Engineers, 2004: 453-456.