The Rotation Control System to Improve the Accuracy of an Inertial Navigation System Installed in an Autonomous Underwater Vehicle

Ishibashi, Shojiro; Tsukioka, Satoshi; Sawa, Takao; Yoshida, Hiroshi; Hyakudome, Tadahiro; Tahara, Junichiro; Aoki, Taro; Ishikawa, Akihisa

doi:10.1109/ut.2007.370772

Cited by 26 publications

(15 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…At present, Japan Agency for Marine-Earth Science and Technology developed the crusing AUV URASHIMA which also uses INS rotation method in 2005. Three-axis turntable experiment confirms that navigation accuracy is obviously improved brought by rotational motion [7]. In view of current research and application in inertial system, INS with continuous rotation technique will have the quite potential for high accuracy navigation system.…”

Section: Introductionmentioning

confidence: 65%

Research on accuracy improvement of INS with continuous rotation

Nie

Xiao-ying

Liu

2009

2009 International Conference on Information and Automation

View full text Add to dashboard Cite

Designed on the dominating place to meet the very high positioning requirements of marine and submarine application, the INS rotation in this paper as an important technique is presented to remarkably improve the performance of widely used navigation system. Such INS equipped with rotation structure, the principle which applied the continuous rotation to INS is discussed in order to reduce the navigation errors. Based on this principle we derive the navigation error propagation expressions stimulated by gyroscope constant drifts under the condition of continuous rotation. Moreover, theoretical analyses suggest that INS rotation method can extend to modulate and restrain other error sources except for gyroscope drift. The effect of INS rotation method is confirmed in the simulation experiment. Simulation results indicate that, compared with the static state, the proposed method attenuates the navigation errors caused due to inertial sensor and greatly enhances the navigation accuracy.

show abstract

Section: Introductionmentioning

confidence: 65%

Research on accuracy improvement of INS with continuous rotation

Nie

Xiao-ying

Liu

2009

2009 International Conference on Information and Automation

View full text Add to dashboard Cite

show abstract

“…If we define as sin + = ( + )/2, then the angle integrated by output angular rate of gyroscope during IMU rotation can be calculated according to (7), which will be a reference for encoder angle output. Consider Figure 7 shows actual experimental data of encoder angle outputs and Figure 8 is acquired when subtracting encoder angle from the integrated angle of gyroscope .…”

Section: Analysis Of Azimuth Output Error In Rinsmentioning

confidence: 99%

“…In 2004, Yang and Miao analyzed single-axis continuous rotation INS based on fiber-optic gyroscopes [5]. In 2007, Ishibashi et al proved that position accuracy would acquire great improvement by driving INS rotate continuously on a turntable during alignment and navigation [6,7]. Dualaxis RINS was brought out to solve the defects that vertical axis inertial sensors errors cannot be restrained in singleaxis RINS [8,9].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Improvement of Attitude Output Accuracy in Rotation Inertial Navigation System

Gao

Wang

et al. 2015

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Inertial navigation system (INS) measures vehicle's angular rate and acceleration by orthogonally mounted tri-axis gyroscopes and accelerometers and then calculates the vehicle's real-time attitude, velocity, and position. Gyroscope drifts and accelerometer biases are the key factors that affect the navigation accuracy. Theoretical analysis and experimental results show that the influence of gyroscope drifts and accelerometer biases can be restrained greatly in rotation INS (RINS) by driving the inertial measurement unit (IMU) rotating regularly, thus improving navigation accuracy significantly. High accuracy in position and velocity should be matched with that in attitude theoretically since INS is based on dead reckoning. However, the marine and vehicle experiments show that short-term attitude output accuracy of RINS is even worse compared with that of nonrotation INS. The loss of attitude accuracy has serious impacts on many task systems where high attitude accuracy is required. This paper researched the principle of attitude output accuracy loss in RINS and then proposed a new attitude output accuracy improvement algorithm for RINS. Experiment results show that the proposed attitude compensation method can improve short-term pitch and roll output accuracy from 20∼30 arc seconds to less than 5 arc seconds and azimuth output accuracy improved from 2∼3 arc minutes to less than 0.5 arc minutes in RINS.

show abstract

“…The SINS with IMU single axis rotation is the basic error modulation scheme [21][22][23]. Knowing from Figure 5 we can get that, at the beginning, the IMU frame is coincident with body frame.…”

Section: Imu Single Axis Rotationmentioning

confidence: 99%