TY - GEN
T1 - Analytical method of the performance of the rotational ins based on the spatial accumulation of the inertial instrument biases
AU - Zhou, Yuan
AU - Deng, Zhihong
AU - Wang, Bo
AU - Xiao, Xuan
AU - Wang, Meiling
N1 - Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - Rotational inertial navigation system (INS) make the biases accumulate averagely to the directions of the navigation coordinate frame by rotating the inertial measurement unit, and eliminate the influence of the biases using the integration of the navigation computation, so that the precision of the INS can be improved effectively. According to the error suppression principle of the rotational INS, this work analyzes the accumulation of the biases in the navigation frame space per unit time by approximately discretizing the IMU rotation path, in order to compare the performance of the rotation modulation schemes with different angular motion statuses. By analyzing the constant angular rate rotation scheme, the linearly varied angular rate rotation schemes and the sine angular rate rotation scheme, the conclusion can be drawn that with the extension of the varying angular rate process, the spatial accumulation of the biases increase, which decreases the error suppression effect of rotation modulation. The conclusion was verified by the simulation of navigation errors. Therefore, the design principle of the rotation modulation schemes is reached that the angular rate should be kept constant in the single-axis rotation modulation and the dual-axis alternate rotation modulation.
AB - Rotational inertial navigation system (INS) make the biases accumulate averagely to the directions of the navigation coordinate frame by rotating the inertial measurement unit, and eliminate the influence of the biases using the integration of the navigation computation, so that the precision of the INS can be improved effectively. According to the error suppression principle of the rotational INS, this work analyzes the accumulation of the biases in the navigation frame space per unit time by approximately discretizing the IMU rotation path, in order to compare the performance of the rotation modulation schemes with different angular motion statuses. By analyzing the constant angular rate rotation scheme, the linearly varied angular rate rotation schemes and the sine angular rate rotation scheme, the conclusion can be drawn that with the extension of the varying angular rate process, the spatial accumulation of the biases increase, which decreases the error suppression effect of rotation modulation. The conclusion was verified by the simulation of navigation errors. Therefore, the design principle of the rotation modulation schemes is reached that the angular rate should be kept constant in the single-axis rotation modulation and the dual-axis alternate rotation modulation.
KW - Error compensation
KW - Rotation modulation method
KW - Rotational inertial navigation system
KW - Spatial accumulation of the biases
UR - http://www.scopus.com/inward/record.url?scp=84929756334&partnerID=8YFLogxK
U2 - 10.3182/20140824-6-za-1003.00544
DO - 10.3182/20140824-6-za-1003.00544
M3 - Conference contribution
AN - SCOPUS:84929756334
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 9649
EP - 9653
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -