A self-calibration method for non-orthogonal angles of gimbals in rotational inertial navigation system based on fiber optic gyro

Liu, Zengjun; Wang, Lei; Wang, Wei; Song, Tianxiao

doi:10.1177/0142331217729203

Cited by 6 publications

(5 citation statements)

References 17 publications

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“…The navigation error propagation equations of SINS have been studied many times [18][19][20][21]. So, the error equations in n-frame of the SINS could be expressed as (15): Considering the actual velocity measured by the odometer V b D , the actual azimuth measured by odometer ψ D could be written as follows:…”

Section: Sins Error Modelmentioning

confidence: 99%

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Research on the Integrated Navigation Technology of SINS with Couple Odometers for Land Vehicles

Gao

2020

Sensors

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Autonomous and accurate acquisition of the position and azimuth of the vehicle is critical to the combat effectiveness of land-fighting vehicles. The integrated navigation system, consisting of a strap-down inertial navigation system (SINS) and odometer (OD), is commonly applied in vehicles. In the SINS/OD integrated system, the odometer is installed around the vehicle’s wheel, while SINS is usually installed on the base of the vehicle. The distance along SINS and OD would cause a velocity difference when the vehicle maneuvers, which may lead to a significant influence on the integration positioning accuracy. Furthermore, SINS navigation errors, especially azimuth error, would diverge over time due to gyro drifts and accelerometer biases. The azimuth error would cause the divergence of dead-reckoning positioning errors with the distance that the vehicle drives. To solve these problems, an integrated positioning and orientation method based on the configuration of SINS and couple odometers was proposed in this paper. The proposed method designed a high precision integrated navigation algorithm, which compensated the lever arm effect to eliminate the velocity difference between SINS and odometers. At the same time, by using the measured information of couple odometers, azimuth reference was calculated and used as an external measurement to suppress SINS azimuth error’s divergence over time, thus could further improve the navigation precision of the integrated system, especially the orientation accuracy. The performance of the proposed method was verified by simulations. The results demonstrated that SINS/2ODs integrated system could achieve a positioning accuracy of 0.01% D (total mileage) and orientation accuracy of ±30″ by using SINS with 0.01°/h Fiber-Optic Gyroscope (FOGs) and 50 µg accelerometers.

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Section: Sins Error Modelmentioning

confidence: 99%

“…The navigation error propagation equations of SINS have been studied many times [18][19][20][21]. So, the error equations in n-frame of the SINS could be expressed as (15): where a ij (i/j = 1, 2, 3) represents the element in the transformation matrix C n b separately.…”

Section: 3 Sins Error Modelmentioning

confidence: 99%

Research on the Integrated Navigation Technology of SINS with Couple Odometers for Land Vehicles

Gao

2020

Sensors

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“…The second kind of calibration method is in a direct form, non-orthogonal angles are calibrated based on the direct outputs of gyros and encoders. In [14], gyro outputs during positive and negative rotations in multiple positions are used to separate and calibrate non-orthogonal angles. Cha et al [15] employs gyro outputs at various angular velocities provided by a high-precision turntable.…”

Section: Introductionmentioning

confidence: 99%

A self-calibration method for temperature errors of non-orthogonal angles between gimbals in rotational inertial navigation system

Liu,

Wang,

2024

Meas. Sci. Technol.

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The Rotational Inertial Navigation System (RINS) employs a rotating modulation technique by introducing rotation gimbals, thereby enhancing RINS' accuracy in position and velocity estimation. Furthermore, the rotation gimbals provide the ability for self-calibration in RINS. However, it introduces new sources of error, such as non-orthogonal angles between gimbals, which result in inaccuracies in attitude outputs and thus require precise calibration and compensation. Previous research employs RINS attitude errors as measurements in the Kalman filter (KF) for calibration. However, attitude measurements are susceptible to various factors, and the influence of temperature on non-orthogonal angles has been largely overlooked before. In this paper, we discuss the causes of temperature-induced errors in non-orthogonal angles between gimbals and their impact on attitude estimation. And a self-calibration method based on outputs from fiber optic gyroscopes and optical angle encoders is proposed. The results of navigation experiments validate the effectiveness of the calibration and compensation method. After compensating the temperature errors of the non-orthogonal angles between gimbals, we can see a decrease in the amplitude of attitude output oscillation from 80" to less than 10".

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“…These error terms do not exist or have limited impact on navigation accuracy in a strapdown inertial navigation system (SINS), while they cause serious navigation errors in the dual-axis RINS due to the continuous rotation of gimbals. The analysis and self-calibration method of the nonorthogonal angles in the dual-axis RINS has been introduced in [5][6][7]. In this paper, we focus on the ILA selfcalibration and compensation.…”

Section: Introductionmentioning

confidence: 99%

“…The ILAs are error vectors between the respective sensitive point of three accelerometers and the theoretical measurement point. For rotational IMU, which is composed of rotation gimbals and the IMU, the rotation center determined by its inner gimbal and outer gimbal is generally selected as the theoretical measurement point [5][6][7]. Due to the physical size and mounting position of accelerometers, their sensitive points cannot coincide with the rotation center.…”

Section: Introductionmentioning

confidence: 99%

A self-calibration method of inner lever arms for dual-axis rotation inertial navigation systems

Liu

Zhou

2019

Meas. Sci. Technol.

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In an inertial navigation system (INS), it is generally assumed that three accelerometers in an inertial measurement unit measure the acceleration input at the same point in space. However, there are error vectors between the respective sensitive point of the three accelerometers and the theoretical measurement point, typically termed as inner lever arms (ILAs). In strapdown INS, the ILAs coupled with the carrier’s angular motion lead to a decline in navigation accuracy, while for dual-axis rotational INS (RINS), the ILAs coupled with the gimbals’ angular motion further introduce new navigation errors. Therefore, the calibration and compensation for the ILAs are important for enhancing the systemic reliability. In this paper, an ILA self-calibration method is proposed by leveraging the rotation gimbals of the RINS. To be able to obtain all the ILA parameters, we establish an error model by considering the ILAs, and design a reasonable rotation scheme to ensure all parameters observable. The simulations and experiments show that the proposed self-calibration method is able to accomplish the rapid and accurate estimation of all the ILAs and the velocity stage and slope errors are greatly corrected after compensation by the calibration results.

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A self-calibration method for non-orthogonal angles of gimbals in rotational inertial navigation system based on fiber optic gyro

Cited by 6 publications

References 17 publications

Research on the Integrated Navigation Technology of SINS with Couple Odometers for Land Vehicles

Research on the Integrated Navigation Technology of SINS with Couple Odometers for Land Vehicles

A self-calibration method for temperature errors of non-orthogonal angles between gimbals in rotational inertial navigation system

A self-calibration method of inner lever arms for dual-axis rotation inertial navigation systems

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