scholarly journals A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1683 ◽  
Author(s):  
Zhengyao Jing ◽  
Jie Li ◽  
Xi Zhang ◽  
Kaiqiang Feng ◽  
Tao Zheng
Keyword(s):  
Navigation System ◽  
High Speed ◽  
Inertial Navigation System ◽  
Angular Rate ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Mems Sensors ◽  
Rotation Scheme ◽  
Sensor Errors ◽  
Strapdown Inertial Navigation

In previous research, a semi-strapdown inertial navigation system (SSINS), based on micro-electro-mechanical system (MEMS) sensors, was able to realize over-range measurement of the attitude information of high-rotation missiles by constructing a single axis “spin reduction” platform. However, the MEMS sensors in SSINS were corrupted by significant sensor errors. In order to further improve SSINS measurement accuracy, a rotational modulation technique has been introduced to compensate for sensor errors. The ideal modulation angular velocity is changed sharply to achieve a constant speed, while in practical applications, the angular rate of the rotating mechanism’s output needs to go through an acceleration-deceleration process. Furthermore, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. In this paper, a novel rotation scheme is proposed which can effectively suppress the residual error in the navigation coordinate system caused by the modulation angular rate error, including the acceleration-deceleration process and instability of angular rate. The experiment results show that the position and attitude accuracy of the new rotation scheme was increased by more than 56%. In addition, the proposed scheme is applicable to navigation accuracy improvement under various dynamic conditions.

scholarly journals Attitude Output of Strapdown Inertial Navigation System Based on Laser Gyro

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Real Time ◽  
Navigation System ◽  
High Speed ◽  
Data Exchange ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Data Communication ◽  
Data Access ◽  
Strapdown Inertial Navigation System ◽  
Strapdown Inertial Navigation

Aiming at the real-time problems of signal acquisition, attitude calculation and data exchange of strapdown inertial navigation system, the data exchange between the core device of three-axis screw instrument and three-axis accelerometer sensor inertial unit (IMU) is analyzed. The RS-232 serial interface and can bus interface are adopted, which can not meet the requirements of high-speed sampling and real-time data transmission of each sensor. A new method based on FPGA dual port RAM and dual DSP is proposed Speed data access mode, through the main control CPU clock synchronization, can effectively solve the bottleneck problem of data communication between IMU attitude data and core equipment, and realize the rapid response ability of vehicle navigation system. Experiments and simulations show that the highest frequency attitude update rate of the method can reach 2000kHz, which can effectively solve the input and output data and navigation calculation ability, and improve the maneuverability of the carrier.

Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Seong Yun Cho ◽  
Hyung Keun Lee ◽  
Hung Kyu Lee
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
The State ◽  
State Model ◽  
Low Grade ◽  
State Variables ◽  
Estimation Errors ◽  
Strapdown Inertial Navigation

In this paper, performance of the initial fine alignment for the stationary nonleveling strapdown inertial navigation system (SDINS) containing low-grade gyros is analyzed. First, the observability is analyzed by conducting a rank test of an observability matrix and by investigating the normalized error covariance of the extended Kalman filter based on the ten-state model. The results show that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and nonleveling attitude angles of a vehicle containing the SDINS. Especially, this paper shows that the larger the attitude angles of the vehicle are, the greater the estimation errors are. Finally, it is shown that the performance of the eight-state model excluding the two unobservable state variables is better than that of the ten-state model in the fine alignment by a Monte Carlo simulation.

Screw Algorithm Optimized with Instantaneous Signals

2012 ◽  
Vol 229-231 ◽  
pp. 1671-1674
Author(s):  
Jian Feng Chen ◽  
Xi Yuan Chen ◽  
Xue Fen Zhu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Angular Rate ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Specific Force ◽  
Dual Quaternion ◽  
Screw Motion ◽  
Direct Component ◽  
Simulation Results

Recent dramatic progress in strapdown inertial navigation system (SINS) algorithm is the design of SINS principle based on screw algorithm, utilizing dual quaternion. In this paper, the screw algorithm consisting of angular rate and specific force is optimized under a special screw motion. The special screw motion is derived from classical screw motion and can be taken as a complicated sculling motion including classical coning motion. Subsequently, the coefficients in the multi-sample screw algorithms and the corresponding algorithm drifts are determined by minimizing the error on direct component. The simulation results of attitude and velocity errors agree with the optimization goals, except when the number of subinterval is greater than 2. An explanation of this phenomenon is delivered.

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