Calibration of Skew Redundant Sensor Configurations in the Presence of Field Alignment Errors

Gheorghe, Marius V.; Bodea, Mircea; Dobrescu, Lidia

doi:10.1109/tim.2019.2914296

Cited by 5 publications

(1 citation statement)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These RIMU configurations can be classified as orthogonal and nonorthogonal [ 3 ]. The nonorthogonal redundant configuration is the most widely used configuration in RIMU, and includes skew redundant configuration, tetrahedron redundant configuration, dodecahedron redundant configuration, and four-cross configuration [ 4 , 5 , 6 , 7 ]. RIMU in navigation systems is mainly used for strapdown INS to improve the reliability of the system.…”

Section: Introductionmentioning

confidence: 99%

A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System

et al. 2023

View full text Add to dashboard Cite

A redundant rotational inertial navigation system (RRINS) comprises a redundant inertial measurement unit (RIMU) and a turntable for improving reliability and navigation accuracy. Because of the multi-sensor configuration, the RIMU has a more complex error model compared with the traditional orthogonal inertial measurement unit (IMU). Therefore, the RIMU-based rotation scheme cannot simply replicate the traditional IMU-based rotation scheme. In this study, a dual-axis rotation scheme for RIMU characteristics is proposed. First, the error model of the RIMU was established, and the error compensation of RIMU caused by rotation was analyzed. Second, the principles of rotation axis switching and reciprocating rotation were summarized, and a dual-axis rotation scheme was designed by these principles. Finally, the rotation scheme was applied to an RRINS prototype consisting of RIMU (four fiber optic gyroscopes + four quartz accelerometers) and a dual-axis turntable, and then simulations and experiments were performed. The results of the simulations and experiments show that the positioning accuracy of RRINS can be obviously improved by using the proposed rotation scheme.

show abstract