An Improved Online Fast Self-Calibration Method for Dual-Axis RINS Based on Backtracking Scheme

Li, Jing; Su, Lichen; Wang, Fang; Li, Kailong; Zhang, Lili

doi:10.3390/s22135036

Cited by 7 publications

(3 citation statements)

References 24 publications

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“…In order to solve this problem, we need to design a method to calibrate these errors. Common IMU calibration methods are mostly used for tactical-grade IMU and other high-quality sensors, and often need to introduce special references, such as preset frames or turntables [24][25][26]. Therefore, this paper presents a combine calibration method of multi position rotation without introducing special reference.…”

Section: Modelingmentioning

confidence: 99%

MEMS strapdown inertial attitude measurement system using rotational modulation technology

Sun,

Huang,

Sun

et al. 2024

PLoS ONE

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Attitude determination involves the integration of methodologies and systems for estimating the time varying attitude of moving objects. Strapdown Inertial Attitude Measurement System (SIAMS) is among the most widely used navigation systems. The development of cost effective Micro Electro Mechanic System (MEMS) based inertial sensors has made attitude measurement system more affordable. However, MEMS sensors suffer from various errors that have to be calibrated and compensated to get acceptable attitude results. Given the auto-compensation of inertial sensor bias in rotation error modulation, the objective of this paper is to develop a MEMS-based rotary SIAMS, in which the significant sensor bias is automatically compensated by rotating the IMU, to offer comparable performance with respect to a tactical-grade Inertial Measurement Unit (IMU). With the analysis of the relationship between the MEMS error and misalignment, a MEMS calibration model is derived, and a combined calibration method of multi position rotation is applied to estimate the deterministic sensor errors such as bias, scale factor, and misalignment. Simulation and experiment results indicate that the proposed method can further modulate and compensate the MEMS errors, thereby improving the MEMS attitude accuracy.

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Section: Modelingmentioning

confidence: 99%

MEMS strapdown inertial attitude measurement system using rotational modulation technology

Sun,

Huang,

Sun

et al. 2024

PLoS ONE

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“…At present, with the application of new INSs such as rotating INS [ 5 , 6 , 7 , 8 ] and three-autonomy (autonomous calibration, autonomous alignment and autonomous test) INS [ 9 ], some new alignment schemes have also emerged. Due to the fact that the above-mentioned INS has a rotating mechanism, schemes such as multi-position alignment and rotation alignment have been proposed [ 10 , 11 ].…”

Section: Introductionmentioning

confidence: 99%

Design of a Multi-Position Alignment Scheme

Guan,

Liu,

Wei

et al. 2024

Sensors

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The current new type of inertial navigation system, including rotating inertial navigation systems and three-autonomy inertial navigation systems, has been increasingly widely applied. Benefited by the rotating mechanisms of these inertial navigation systems, alignment accuracy can be significantly enhanced by implementing IMU (Inertial Measurement Unit) rotation during the alignment process. The principle of suppressing initial alignment errors using rotational modulation technology was investigated, and the impact of various component error terms on alignment accuracy of IMU during rotation was analyzed. A corresponding error suppression scheme was designed to overcome the shortcoming of the significant scale factor error of fiber optic gyroscopes, and the research content of this paper is validated through corresponding simulations and experiments. The results indicate that the designed alignment scheme can effectively suppress the gyro scale factor error introduced by angular motion and improve alignment accuracy.

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“…Gyro and accelerometer errors in the RINS operation phase can theoretically be compensated by importing a rotation scheme of two or more axes [ 23 , 24 ]. RINS, designed by importing a triple-axis rotation scheme, has the advantage of compensating for accelerometer size effects and nonlinear errors in addition to sensor errors such as bias, scale factors, and misalignment [ 25 , 26 ].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

Seo

Ryu

et al. 2022

Sensors

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In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.

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An Improved Online Fast Self-Calibration Method for Dual-Axis RINS Based on Backtracking Scheme

Cited by 7 publications

References 24 publications

MEMS strapdown inertial attitude measurement system using rotational modulation technology

MEMS strapdown inertial attitude measurement system using rotational modulation technology

Design of a Multi-Position Alignment Scheme

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

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