A multi-position self-calibration method for dual-axis rotational inertial navigation system

Ren, Qinyuan; Wang, Bo; Deng, Zhihong; Fu, Mengyin

doi:10.1016/j.sna.2014.08.011

Cited by 74 publications

(36 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…us, the self-compensation can be performed by designing appropriate rotating sequence. RINS can be divided into single-axis, dual-axis, and triaxial-axis or above [10][11][12]. e advantage of rotation modulation is that it can realize self-compensation of sensor errors during navigation process [13,14].…”

Section: Introductionmentioning

confidence: 99%

Error Mechanism and Self-Calibration of Single-Axis Rotational Inertial Navigation System

Nie

Chen

Luo

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

With the rapid development of inertial technology, the rotational inertial system has been widely used for high-accuracy navigation. In addition, the single-axis rotational inertial navigation system is one of the most popular navigation systems due to its low cost. However, the fact which cannot be ignored is that although single axis rotational inertial navigation system can restrain divergence of attitude error, it cannot eliminate velocity error, which is mainly caused by the gyro misalignment and scale factor error related to rotational axis. A novel calibration method established on filter has been proposed. Position, velocity, and attitude are chosen to be the state variables. In order to estimate the gyro errors related to rotational axis, these errors must be included in the state equation. Correspondingly, zero velocity and rate of turntable are chosen to be measured. Simulation has been carried out to verify the correctness of the theory, and the real test has been performed to further demonstrate the validity of the method. By compensating the main error estimated by filter, it can be found that the accumulated errors in velocity and attitude are decreased. So, the precision of navigation is greatly improved with the proposed method.

show abstract

Section: Introductionmentioning

confidence: 99%

Error Mechanism and Self-Calibration of Single-Axis Rotational Inertial Navigation System

Nie

Chen

Luo

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…Through the presentable symmetrical rotation around the axis with the IMU, some kinds of errors’ mean values such as the constant drift, asymmetry error of scale factor, etc., can be shifted to sinusoidal form [7,8,9,10]. Through the integration, these parameters can approach to zero.…”

Section: Introductionmentioning

confidence: 99%

Accurate Compensation of Attitude Angle Error in a Dual-Axis Rotation Inertial Navigation System

Jiang

Yang

Zou

et al. 2017

Sensors

View full text Add to dashboard Cite

In the dual-axis rotation inertial navigation system (INS), besides the gyro error, accelerometer error, rolling misalignment angle error, and the gimbal angle error, the shaft swing angle and the axis non-orthogonal angle also affect the attitude accuracy. Through the analysis of the structure, we can see that the shaft swing angle and axis non-orthogonal angle will produce coning errors which cause the fluctuation of the attitude. According to the analysis of the rotation vector, it can be seen that the coning error will generate additional drift velocity along the rotating shaft, which can reduce the navigation precision of the system. In this paper, based on the establishment of the modulation average frame, the vector projection is carried out, and then the attitude conversion matrix and the attitude error matrix mainly including the shaft swing angle and axis non-orthogonal are obtained. Because the attitude angles are given under the static condition, the shaft swing angle and the axis non-orthogonal angle are estimated by the static Kalman filter (KF). This kind of KF method has been widely recognized as the standard optimal estimation tool for estimating the parameters such as coning angles (α1 , α2), initial phase angles (ϕ1,ϕ2), and the non-perpendicular angle (η). In order to carry out the system level verification, a dual axis rotation INS is designed. Through simulation and experiments, the results show that the amplitudes of the attitude angles’ variation are reduced by about 20%–30% when the shaft rotates. The attitude error equation is reasonably simplified and the calibration method is accurate enough. The attitude accuracy is further improved.

show abstract

“…So the performance of the navigation system is improved in the long term without using higher accuracy gyros [4,5,6].…”

Section: Introductionmentioning

confidence: 99%

High precision locking control based on fiber optic gyro and photoelectric encoder for rotational inertial navigation system

Zhang

Wang

Zhang

et al. 2016

IEICE Electron. Express

View full text Add to dashboard Cite

Aiming at the phenomenon of poor precision locking motor control executed by the photoelectric encoder of low resolution, a method of gyro locking control based on filtering estimation is proposed. The influence of control precision on self-calibration and coarse alignment of the rotational inertial navigation system (RINS) is analyzed. The model of the control system is established and simulated. Then the control mode is applied on RINS. The results of simulation and experiments show that the precision of locking control method designed in this paper outperforms the previous scheme and the self-calibration effect of RINS has significantly improved.

show abstract

A multi-position self-calibration method for dual-axis rotational inertial navigation system

Cited by 74 publications

References 15 publications

Error Mechanism and Self-Calibration of Single-Axis Rotational Inertial Navigation System

Error Mechanism and Self-Calibration of Single-Axis Rotational Inertial Navigation System

Accurate Compensation of Attitude Angle Error in a Dual-Axis Rotation Inertial Navigation System

High precision locking control based on fiber optic gyro and photoelectric encoder for rotational inertial navigation system

Contact Info

Product

Resources

About