scholarly journals A Calibration Method for the Errors of Ring Laser Gyro in Rate-Biased Mode

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4754
Author(s):  
Zengjun Liu ◽  
Lei Wang ◽  
Kui Li ◽  
Jingxuan Ban ◽  
Meng Wang
Keyword(s):  
Ring Laser ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Calibration Method ◽  
Scale Factor ◽  
Measurement Unit ◽  
Misalignment Angle ◽  
Laser Gyro ◽  
Constant Bias ◽  
The Difference

Ring laser gyro (RLG) can work in mechanically dithered mode or rate-biased mode according to the working state of the inertial navigation system (INS). It can change from one mode to the other by receiving outer instructions. To evaluate the performance of RLG in rate-biased mode, an inertial measurement unit (IMU) based on RLG is installed on a dual-axis turntable, the turntable offers a constant angular velocity to the RLGs, in that way RLG can work in the rate-biased mode. A calibration method is proposed to calibrate the scale factor error, misalignments and constant bias of RLG in rate-biased mode, experiment results show that the differences of scale factor of the three gyros in two modes are 9 ppm, 7 ppm and 3.5 ppm, the constant biases of the three RLGs in rate-biased mode are also different from that in mechanically dithered mode with the difference of 0.017°/h, 0.011°/h and 0.020°/h, the input axis misalignment angle of RLGs in different modes also changed. What is more, a calculation method of angle random walk (ARW) of RLG in rate-biased mode is also presented. Experimental results show that the ARW of the RLG in rate-biased mode is about one third of that in mechanically dithered.

Isotropic Design Method of Suspension System of Dithered RLG Strapdown Inertial Measurement Unit

2014 ◽  
Vol 1044-1045 ◽  
pp. 788-797 ◽  
Author(s):  
Geng Li ◽  
Guo Wei ◽  
Yuan Pin Xie ◽  
Peng Fei Zhang ◽  
Xu Dong Yu ◽  
...  
Keyword(s):  
Ring Laser ◽  
Inertial Measurement Unit ◽  
Dynamic Range ◽  
Inertial Sensor ◽  
Design Method ◽  
Suspension System ◽  
Measurement Unit ◽  
Mass Center ◽  
Inertial Measurement ◽  
Laser Gyro

The dithered ring laser gyro (DRLG) strapdown inertial navigation system (SINS) is widely used in many applications, including military and commercial systems for the advantages such as high accuracy, wide dynamic range and bandwidth, outstanding scale factor stability over temperature, compactness and lower cost. However, the dither motion introduced to eliminate the lock-in error which is the inherent phenomena in the ring laser gyro also brought the adverse disturbance to the inertial measurement unit (IMU). Meanwhile, the installation environment of the SINS may also bring undesirable vibration and shock. For these reasons, a feasible and reliable suspension system is required to provide decoupling of the translational and rotational vibrations of the inertial sensor assembly (ISA) and attenuating the outside vibration and shock. Based on this, the isotropic design method of suspension system of DRLG strapdown IMU is proposed in this paper. The method consists four principles: 1) the input axes of sensors should be placed symmetrically along the ISA symmetric axes which are also the principle inertial axes; 2) the mass center of ISA is also the center of the geometric structure; 3) the elastic center of the suspension system is overlapped on the mass center by placing mounting isolators in the ISA structure corner in the isotropic manner and 4) the first mode frequency of ISA structure should be twice or more higher than the maxim mechanical dither frequency of DRLG triad. Following these principles, a design practice is implemented. The simulation and the experiment result show that the IMU using isotropic design method is proved to be feasible and reliable even in the extreme temperature ambiance.

Systematic Calibration Method for FOG Inertial Measurement Units

2013 ◽  
Vol 662 ◽  
pp. 717-720 ◽  
Author(s):  
Zhen Yu Zheng ◽  
Yan Bin Gao ◽  
Kun Peng He
Keyword(s):  
Inertial Measurement Unit ◽  
Inertial Sensors ◽  
Calibration Method ◽  
State Equation ◽  
Measurement Unit ◽  
Observation System ◽  
Body Frame ◽  
Inertial Measurement ◽  
Measurement Units ◽  
Error Coefficients

As an inertial sensors assembly, the FOG inertial measurement unit (FIMU) must be calibrated before being used. The paper presents a one-time systematic IMU calibration method only using two-axis low precision turntable. First, the detail error model of inertial sensors using defined body frame is established. Then, only velocity taken as observation, system 33 state equation is established including the lever arm effects and nonlinear terms of scale factor error. The turntable experiments verify that the method can identify all the error coefficients of FIMU on low-precision two-axis turntable, after calibration the accuracy of navigation is improved.

Research on Automatic Joint Calibration Method of Multi 3D-LIDARs and Inertial Measurement Unit

2021 ◽  
Author(s):  
Jinghua Zhang ◽  
Rui He ◽  
Jian Wu ◽  
Shuai Li ◽  
Xuesong Chen ◽  
...  
Keyword(s):  
Inertial Measurement Unit ◽  
Calibration Method ◽  
Measurement Unit ◽  
Inertial Measurement

scholarly journals Scalar Method of Fault Diagnosis of Inertial Measurement Unit

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Vadym Avrutov
Keyword(s):  
Fault Diagnosis ◽  
Inertial Measurement Unit ◽  
Calibration Method ◽  
Quality Monitoring ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Working Capacity ◽  
Element Determination ◽  
Inertial Measurement ◽  
Algorithm Verification

The scalar method of fault diagnosis systems of the inertial measurement unit (IMU) is described. All inertial navigation systems consist of such IMU. The scalar calibration method is a base of the scalar method for quality monitoring and diagnostics. In accordance with scalar calibration method algorithms of fault diagnosis systems are developed. As a result of quality monitoring algorithm verification is implemented in the working capacity monitoring of IMU. A failure element determination is based on diagnostics algorithm verification and after that the reason for such failure is cleared. The process of verifications consists of comparison of the calculated estimations of biases, scale factor errors, and misalignments angles of sensors to their data sheet certificate, kept in internal memory of computer. As a result of such comparison the conclusion for working capacity of each IMU sensor can be made and also the failure sensor can be determined.

A Rapid Field Calibrating Method for MIMU

2011 ◽  
Vol 80-81 ◽  
pp. 1140-1144
Author(s):  
Yu Bao Fan ◽  
Jie Li ◽  
Bo Wang ◽  
Xiao Chun Tian ◽  
Jun Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Operation Time ◽  
Calibration Method ◽  
Least Square ◽  
Measurement Unit ◽  
Calibration Model ◽  
Time Saving ◽  
Inertial Measurement ◽  
Field Calibration ◽  
Calibration Program

When the Micro Inertial Measurement Unit is been placed randomly in the case of stationary, the sum vectors that measured by the inertial devices configured orthogonally along three axis, are constant vectors. In view of the above objective facts, a field calibration method of micro inertial measurement unit was proposed. On the base of the establishment and optimization of calibration model, all parameters to be calibrated can be obtained through the least square by the ellipsoid fitting, with the result of high-precision field calibration for micro inertial measurement unit. Finally, a filed calibration program for micro inertial measurement unit is scheduled reasonably. The experiment results show that the method has such characteristics such as easily-operation, time-saving, higher calibration accuracy, and not depending on the baseline direction and datum offered by precision instruments. Especially, it fits for inertial measurement systems which work short time and ask for high accuracy. In addition, it can also significantly increase the measurement accuracy of micro inertial measurement system in practical application.

Multi-Position Self-Calibration Method of Inertial Navigation System

2012 ◽  
Vol 580 ◽  
pp. 146-150
Author(s):  
Ji Wei Zhang ◽  
Xiao Dong Xu ◽  
Bo Wang
Keyword(s):  
Navigation System ◽  
Horizontal Plane ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Scale Factor ◽  
Self Calibration ◽  
Attitude Angle ◽  
On Line

In order to solve the problem that in the dual axle rotating modulation inertial navigation system the angle between the horizon roller of the system and horizontal plane can't be removed, this paper provides an on-line self calibration method based on inertial navigation system, and this method realized the on-line self calibration of the inertial navigation system by calculating bias and scale factor both of the gyroscope and accelerometer, solving the problem that in the dual axle rotating modulation inertial navigation system the angle between the horizon roller of the system and horizontal plane can't be removed, providing an calculable basis for the prediction of attitude angle and realizing on-line autonomous self-calibration.

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