An improved computation scheme of strapdown inertial navigation system using rotation technique

Zhang, Lundong; Lian, Junxiang; Wu, Meiping; Hu, Xiaoping

doi:10.1007/s11771-012-1137-8

Cited by 17 publications

(11 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The initial position is at latitude of 30°and longitude of 110°. The platform rotates continuously at the rate of 6(°)/s [8].…”

Section: Simulation and Analysismentioning

confidence: 99%

Effects of Non-orthogonal Scheme on Error Modulation of Single-axis Rotating Strapdown INS

Wang¹,

Wu²,

Cai³

et al. 2015

Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications

View full text Add to dashboard Cite

To improve the accuracy of strapdown inertial navigation system(SINS), a non-orthogonal installation scheme of inertial sensors was put forward for single-axis rotating SINS in this paper. Firstly, the principle of single-axis rotation modulation technology was expounded based on the error model of inertial sensors. Then, the effects of non-orthogonal scheme upon rotating modulation were analyzed theoretically, which show that the equivalent error magnitudes vary with angles between sensitive axes of inertial sensors. Finally, the simulation was performed. Experimental results show that the velocity error reduced from 1.91m/s to 1.03m/s in north and from 1.95m/s to 1.08m/s in east, and the positioning accuracy improved from 7.32 n mile to 2.00 n mile in north and from 5.06 n mile to 1.70 n mile in east within 24h when suing the new scheme.

show abstract

“…The initial position is at latitude of 30°and longitude of 110°. The platform rotates continuously at the rate of 6(°)/s [8].…”

Section: Simulation and Analysismentioning

confidence: 99%

Effects of Non-orthogonal Scheme on Error Modulation of Single-axis Rotating Strapdown INS

Wang¹,

Wu²,

Cai³

et al. 2015

Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications

View full text Add to dashboard Cite

show abstract

“…The rotary table coordinate system is defined to be fixed with the rotary table and denoted by r. The errors of the three gyros are denoted by ε r = [ε x ε y ε z ], the rotation rate of the rotary table is denoted by ω c . Then to a single-axis RINS whose rotation axis is coincided with the IMU's Z-axis, the projection of ε r on the n-frame can be expressed by (Zhang et al, 2012): …”

Section: S To C H a S T I C E R R O R P Ro P A G At I O N I N A Lo N mentioning

confidence: 99%

“…The errors of the three gyros are denoted by ε r =[ ε x ε y ε z ], the rotation rate of the rotary table is denoted by ω c . Then to a single-axis RINS whose rotation axis is coincided with the IMU's Z-axis, the projection of ε r on the n-frame can be expressed by (Zhang et al, 2012):where C b n is the transition matrix from the b-frame to the n-frame, C r b is the transition matrix from the r-frame to the b-frame. During one rotation period, if the vehicle's attitude remains the same, C b n is a constant matrix and the errors of the two horizontal gyros are modulated to sine functions.…”

Section: Stochastic Error Propagation In a Long-term Working Rinsmentioning

confidence: 99%

The Compensation Effects of Gyros' Stochastic Errors in a Rotational Inertial Navigation System

et al. 2014

View full text Add to dashboard Cite

The errors of an inertial navigation system (INS) in response to gyros' errors can be effectively reduced by the rotation technique, which is a commonly used method to improve an INS's accuracy. A gyro's error consists of a deterministic contribution and a stochastic contribution. The compensation effects of gyros' deterministic errors are clear now, but the compensation effects of gyros' stochastic errors are as yet unknown. However, the compensation effects are always needed in a rotational inertial navigation system's (RINS) error analysis and optimization study. In this paper, the compensation effects of gyros' stochastic errors, which are modelled as a Gaussian white (GW) noise plus a first-order Markov process, are analysed and the specific formulae are derived. During the research, the responses of an INS's and a RINS's position error equations to gyros' stochastic errors are first analysed. Then the compensation effects of gyros' stochastic errors brought by the rotation technique are discussed by comparing the error propagation characteristics in an INS and a RINS. In order to verify the theory, a large number of simulations are carried out. The simulation results show a good consistency with the derived formulae, which can indicate the correctness of the theory. K E Y WO R D S 1. Rotational Inertial Navigation System. 2. Rotation Technique. 3. Stochastic Noises. 4. Error Analysis..

show abstract

“…When the rotary table rotates, the bias errors of the horizontal gyros and the horizontal accelerometers are modulated, yielding improved heading, attitude and position accuracy. The computation scheme of the rotational SINS is shown as Figure 2 [18].…”

Section: The Principle Behind the Rotational Sinsmentioning

confidence: 99%

Decrease in Accuracy of a Rotational SINS Caused by its Rotary Table's Errors

Lyu

Liu

Lai

et al. 2014

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

We call a strapdown inertial navigation system (SINS) that uses the rotation auto-compensation technique (which is a common method to reduce the effect of the bias errors of inertial components) a ‘rotational SINS’. In a rotational SINS, the rotary table is an important component, rotating the inertial sensor assembly back and forth in azimuth to accomplish error modulation. As a consequence of the manufacturing process, errors may exist in rotary tables which decrease the navigation accuracy of rotational SINSs. In this study, the errors of rotary tables are considered in terms of installation error, wobble error and angular error, and the models of these errors are established for the rotational SINS. Next, the propagation characteristics of these errors in the rotational SINS are analysed and their effects on navigation results are discussed. Finally, the theoretical conclusions are tested by numerical simulation. This paper supplies a good reference for the development of low-cost rotational SINSs, which usually have low accuracy rotary tables and which may be used in robots, intelligent vehicles and unmanned aerial vehicles (UAVs).

show abstract

An improved computation scheme of strapdown inertial navigation system using rotation technique

Cited by 17 publications

References 6 publications

Effects of Non-orthogonal Scheme on Error Modulation of Single-axis Rotating Strapdown INS

Effects of Non-orthogonal Scheme on Error Modulation of Single-axis Rotating Strapdown INS

The Compensation Effects of Gyros' Stochastic Errors in a Rotational Inertial Navigation System

Decrease in Accuracy of a Rotational SINS Caused by its Rotary Table's Errors

Contact Info

Product

Resources

About