A rapid and high-precision initial alignment scheme for dual-axis rotational inertial navigation system

Song, Tianxiao; Li, Kui; Wang, Lei; Sui, Jie; Wang, Lingcao

doi:10.1007/s00542-017-3286-z

Cited by 27 publications

(15 citation statements)

References 19 publications

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“…The alignment experiments are conducted for 2 groups when the RLGs are in rate-biased mode and mechanically dithered mode, each group includes 15 times. There are many mature fine alignment models that can be used [20,21], which is not described here. Offline program was used to process the alignment experiments data; standard deviation of azimuth angle in n-frame for 12 min, 16 min, 20 min, 24 min, 28 min, 32 min, 36 min and 40 min can be obtained.…”

Section: Calculation Of Angle Random Walkmentioning

confidence: 99%

A Calibration Method for the Errors of Ring Laser Gyro in Rate-Biased Mode

Liu

Wang

et al. 2019

Sensors

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Ring laser gyro (RLG) can work in mechanically dithered mode or rate-biased mode according to the working state of the inertial navigation system (INS). It can change from one mode to the other by receiving outer instructions. To evaluate the performance of RLG in rate-biased mode, an inertial measurement unit (IMU) based on RLG is installed on a dual-axis turntable, the turntable offers a constant angular velocity to the RLGs, in that way RLG can work in the rate-biased mode. A calibration method is proposed to calibrate the scale factor error, misalignments and constant bias of RLG in rate-biased mode, experiment results show that the differences of scale factor of the three gyros in two modes are 9 ppm, 7 ppm and 3.5 ppm, the constant biases of the three RLGs in rate-biased mode are also different from that in mechanically dithered mode with the difference of 0.017°/h, 0.011°/h and 0.020°/h, the input axis misalignment angle of RLGs in different modes also changed. What is more, a calculation method of angle random walk (ARW) of RLG in rate-biased mode is also presented. Experimental results show that the ARW of the RLG in rate-biased mode is about one third of that in mechanically dithered.

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Section: Calculation Of Angle Random Walkmentioning

confidence: 99%

A Calibration Method for the Errors of Ring Laser Gyro in Rate-Biased Mode

Liu

Wang

et al. 2019

Sensors

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“…In order to further prove the effectiveness of the filter, an observability analysis of the state variables is required. According to observability theory, it is known that the time-varying system observability matrix that was used in this paper is difficult to analyze [ 21 ], but considering that the INS update interval is short enough, in this case, the time-varying system can be regarded as a linear fixed-length system [ 22 ]. Therefore, this paper uses the PWCS method to verify the observability of the above scheme.…”

Section: Observability Analysismentioning

confidence: 99%

A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

Hua

Yan-hong

et al. 2018

Sensors

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Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.

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“…In addition, the observability of each state variable can be analyzed by error covariance matrix. When the error covariance of the state variable does not decrease with time and converge to nearly zero, the error estimation of the corresponding state variable may have a large estimation error [30], [31]. Observability, which better reveals the effect of error state variables, is an suitable index of state error convergence.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Fast Stationary Initial Alignment Based on Extended Measurement Information

et al. 2019

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This paper presents an innovative complete observable initial alignment method for strapdown inertial navigation system. This method negates the need for multi-position rotation or a complex rotating mechanism. First, the coupling relationship between the error state variables is analytically derived. Based on the equivalence relationship between the acceleration output and the angular rate output and error state variables, an improved extended-measurement equation is then established. The feasibility of the scheme that accelerates the convergence speed is theoretically demonstrated, and the observability of the proposed method is qualitatively and quantitatively analyzed in comparisons with established methods (piece-wise constant system, singular value decomposition, and error covariance matrix analysis). The results confirm that the improved measurement model enhances the observability of state variables to different extent and can achieve complete observability of the system. The proposed method not only can provide the fast and accurate estimation of the alignment error, but also can predict the gyro bias online. More specifically, the equivalent horizontal accelerometer output certainly accelerated the convergence of the horizontal alignment error, and introducing the equivalent gyroscope output improved the convergence speed of the heading alignment error. It is a potential candidate for speeding up the convergence of the stationary initial alignment.

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A rapid and high-precision initial alignment scheme for dual-axis rotational inertial navigation system

Cited by 27 publications

References 19 publications

A Calibration Method for the Errors of Ring Laser Gyro in Rate-Biased Mode

A Calibration Method for the Errors of Ring Laser Gyro in Rate-Biased Mode

A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

A Novel Method for Fast Stationary Initial Alignment Based on Extended Measurement Information

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