Research on Rotation Modulation for INS Based on MEMS Sensors

2013 ◽  
Vol 712-715 ◽  
pp. 1891-1899
Author(s):  
Xue Yun Wang ◽  
Jie Wu ◽  
Wei Wang
Keyword(s):  
Inertial Navigation ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Rotation Direction ◽  
Improve Accuracy ◽  
Other Information ◽  
Axis Rotation ◽  
Navigation Errors

nertial sensors based on Micro-electro-mechanical systems (MEMS) are leading a great prospect because they are cheap, small and light. However, large errors limit their applications in many Inertial Navigation Systems (INS). To improve accuracy of INS based on MEMS sensors, a systematic error auto-compensation method, Rotation Modulation (RM) is introduced. RM improves navigation performance without involving any other information sources, saving the essential characteristic of self-contain. The RM effects on sensor biases and navigation errors are analyzed. Different RM schemes including elements like number of rotating axis, rotation direction, continuity and speed are discussed. An INS based on MEMS sensors with an appropriate RM scheme is developed. Static and land vehicle tests are conducted, verifying the effectiveness of RM on improving inertial navigation performance. Through introducing RM, attitude accuracy is improved by 5 times, and velocity/position accuracy by nearly 10 times.

scholarly journals Analysis and Verification of Rotation Modulation Effects on Inertial Navigation System based on MEMS Sensors

2013 ◽  
Vol 66 (5) ◽  
pp. 751-772 ◽  
Author(s):  
Xueyun Wang ◽  
Jie Wu ◽  
Tao Xu ◽  
Wei Wang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensors ◽  
Inertial Navigation ◽  
Cost Effective ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Position Accuracy

Inertial Navigation Systems (INS) were large, heavy and expensive until the development of cost-effective inertial sensors constructed with Micro-electro-mechanical systems (MEMS). However, the large errors and poor error repeatability of MEMS sensors make them inadequate for application in many situations even with frequent calibration. To solve this problem, a systematic error auto-compensation method, Rotation Modulation (RM) is introduced and detailed. RM does no damage to autonomy, which is one of the most important characteristics of an INS. In this paper, the RM effects on navigation performance are analysed and different forms of rotation schemes are discussed. A MEMS-based INS with the RM technique applied is developed and specific calibrations related to rotation are investigated. Experiments on the developed system are conducted and results verify that RM can significantly improve navigation performance of MEMS-based INS. The attitude accuracy is improved by a factor of 5, and velocity/position accuracy by a factor of 10.

ANALYSIS AND SELECTION OF THE PRINCIPLE OF BUILDING A MOBILE ROBOT ORIENTATION SYSTEM

2021 ◽  
pp. 27-30
Author(s):  
Е.И. Баженов ◽  
С.А. Мокрушин ◽  
С.И. Охапкин
Keyword(s):  
Mobile Robot ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Mems Sensors ◽  
Orientation System ◽  
Expert Assessments ◽  
Selection Of

Рассматривается задача выбора принципа построения системы ориентации мобильного робота в пространстве посредствам обзора существующих решений при помощи метода экспертных оценок. Более подробно рассмотрен принцип построения инерциальных навигационных систем с использованием МЭМС датчиков. The problem of choosing the principle of constructing a system of orientation of a mobile robot in space by reviewing existing solutions using the method of expert assessments is considered. The principle of construction of inertial navigation systems using MEMS sensors is investigated. Based on the results of practical tests, the shortcomings of the principle are highlighted, recommendations are made to eliminate the errors of the results obtained, and the practical value of the work performed is determined.

scholarly journals Temperature Hysteresis Mechanism and Compensation of Quartz Flexible Accelerometer in Aerial Inertial Navigation System

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 294
Author(s):  
Chunxi Zhang ◽  
Xin Wang ◽  
Lailiang Song ◽  
Longjun Ran
Keyword(s):  
Inertial Navigation ◽  
Temperature Cycling ◽  
Compensation Method ◽  
Temperature Hysteresis ◽  
Navigation Systems ◽  
Hysteresis Model ◽  
Inertial Navigation Systems ◽  
Hysteresis Compensation ◽  
Similar Temperature ◽  
Navigation Errors

Strap-down inertial navigation systems (INSs) with quartz flexible accelerometers (QFAs) are widely used in many conditions, particularly in aerial vehicles. Temperature is one of the significant issues impacting the performance of INS. The variation and the gradient of temperature are complex under aerial conditions, which severely degrades the navigation performance of INS. Previous work has indicated that parts of navigation errors could be restrained by simple temperature compensation of QFA. However, the temperature hysteresis of the accelerometer is seldom considered in INS. In this paper, the temperature hysteresis mechanism of QFA and the compensation method would be analyzed. Based on the fundamental model, a comprehensive temperature hysteresis model is proposed and the parameters in this model were derived through a temperature cycling test. Furthermore, the comparative experiments in the laboratory were executed to refine the temperature hysteresis model and to verify the effectiveness of the new compensation method. Applying the temperature hysteresis compensation in flight condition, the result shows that the position error (CEP) is restrained from 1.54 nmile/h to 1.29 nmile/h. The proposed temperature hysteresis compensation method improves the performance of INS effectively and feasibly, which could be promoted to other applications of INS in similar temperature changing environment correspondingly.

scholarly journals A Dynamic Calibration Method of Installation Misalignment Angles between Two Inertial Navigation Systems

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2947
Author(s):  
Ming Hua ◽  
Kui Li ◽  
Yanhong Lv ◽  
Qi Wu
Keyword(s):  
Autonomous Navigation ◽  
Inertial Navigation ◽  
Calibration Method ◽  
Measurement Information ◽  
Dynamic Calibration ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Additional Information ◽  
Two Systems ◽  
Dynamic Calibration Method

Generally, in order to ensure the reliability of Navigation system, vehicles are usually equipped with two or more sets of inertial navigation systems (INSs). Fusion of navigation measurement information from different sets of INSs can improve the accuracy of autonomous navigation effectively. However, due to the existence of misalignment angles, the coordinate axes of different systems are usually not in coincidence with each other absolutely, which would lead to serious problems when integrating the attitudes information. Therefore, it is necessary to precisely calibrate and compensate the misalignment angles between different systems. In this paper, a dynamic calibration method of misalignment angles between two systems was proposed. This method uses the speed and attitude information of two sets of INSs during the movement of the vehicle as measurements to dynamically calibrate the misalignment angles of two systems without additional information sources or other external measuring equipment, such as turntable. A mathematical model of misalignment angles between two INSs was established. The simulation experiment and the INSs vehicle experiments were conducted to verify the effectiveness of the method. The results show that the calibration accuracy of misalignment angles between the two sets of systems can reach to 1″ while using the proposed method.

Analysis of Three Velocity Plus Attitude Matching Methods for Transfer Alignment

2012 ◽  
Vol 433-440 ◽  
pp. 2802-2807
Author(s):  
Ying Hong Han ◽  
Wan Chun Chen
Keyword(s):  
Kalman Filter ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Misalignment Angle ◽  
Inertial Navigation Systems ◽  
Excellent Performance ◽  
Transfer Alignment ◽  
Matching Methods ◽  
Moving Base

For inertial navigation systems (INS) on moving base, transfer alignment is widely applied to initialize it. Three velocity plus attitude matching methods are compared. And Kalman filter is employed to evaluate the misalignment angle. Simulations under the same conditions show which scheme has excellent performance in precision and rapidness of estimations.

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