The Restrain Theory of Gyro Constant Error with Rotation Modulation

2012 ◽  
Vol 566 ◽  
pp. 313-316
Author(s):  
Yue Yang Ben ◽  
Xiao Long Yang ◽  
Xiao Wu ◽  
Qian Li
Keyword(s):  
Navigation System ◽  
Error Propagation ◽  
Inertial Navigation System ◽  
Constant Error ◽  
Global Analysis ◽  
Inertial Navigation ◽  
High Accuracy ◽  
Error Equation ◽  
Partial Analysis ◽  
Navigation Error

With the rotation modulation, a strapdown inertial navigation system (INS) can keep high accuracy navigation without high accuracy gyro and high accuracy accelerometer. Firstly we give the error equation of strapdown INS, and then deduct the navigation error propagation of system. From partial analysis way, the modulation process of gyro constant error is obtained. Form global analysis way, the navigation error roused by constant error and the modulation effects are deducted here.

The Compensation Effects of Gyros' Stochastic Errors in a Rotational Inertial Navigation System

2014 ◽  
Vol 67 (6) ◽  
pp. 1069-1088 ◽  
Author(s):  
Pin Lv ◽  
Jizhou Lai ◽  
Jianye Liu ◽  
Mengxin Nie
Keyword(s):  
Navigation System ◽  
Error Propagation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Propagation Characteristics ◽  
First Order ◽  
Stochastic Errors ◽  
Optimization Study ◽  
Good Consistency ◽  
Rotation Technique

The errors of an inertial navigation system (INS) in response to gyros' errors can be effectively reduced by the rotation technique, which is a commonly used method to improve an INS's accuracy. A gyro's error consists of a deterministic contribution and a stochastic contribution. The compensation effects of gyros' deterministic errors are clear now, but the compensation effects of gyros' stochastic errors are as yet unknown. However, the compensation effects are always needed in a rotational inertial navigation system's (RINS) error analysis and optimization study. In this paper, the compensation effects of gyros' stochastic errors, which are modelled as a Gaussian white (GW) noise plus a first-order Markov process, are analysed and the specific formulae are derived. During the research, the responses of an INS's and a RINS's position error equations to gyros' stochastic errors are first analysed. Then the compensation effects of gyros' stochastic errors brought by the rotation technique are discussed by comparing the error propagation characteristics in an INS and a RINS. In order to verify the theory, a large number of simulations are carried out. The simulation results show a good consistency with the derived formulae, which can indicate the correctness of the theory.

scholarly journals A Fast and High-Accuracy Compass Alignment Method to SINS with Azimuth Axis Rotation

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Xixiang Liu ◽  
Xiaosu Xu ◽  
Yiting Liu ◽  
Lihui Wang
Keyword(s):  
Navigation System ◽  
Calculation Method ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Low Frequency ◽  
High Accuracy ◽  
Alignment Accuracy ◽  
Alignment Method ◽  
Axis Rotation ◽  
Sensor Errors

Azimuth axis rotating modulation was introduced to improve the alignment accuracy of strapdown inertial navigation system (SINS) through compass algorithm, in which the limit accuracy was determined by equivalent sensor errors in the eastern and northern direction. In this modulation, horizontal sensor errors were modulated into zero mean periodic variables. Furthermore, two methods were introduced to ensure alignment accuracy and speed: (1) shortened rotating cycle and redesigned compass parameters were selected to eliminate or ease the amplification to low-frequency senor error inputs in compass loop caused by rotation and (2) a data repeated calculation method was designed to shorten prolonged alignment time caused by the above redesigned parameters. Based on a certain SINS, turntable test proves that alignment accuracy and time were significantly improved and slightly shortened in comparison with the classical compass alignment.

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