Abstract
Self-alignment of strapdown inertial navigation systems incorporating micro-electro-mechanical systems (MSINS) is a great challenge for marine applications. In this paper, a self-alignment method for a rotating MEMS strapdown compass is proposed with the aim of solving this problem. First, based on an analysis of biaxial rotation modulation and initial alignment of the strapdown compass, a self-alignment method is presented and verified. Second, by analyzing the effects of biaxial rotation modulation, the proposed method is improved by speeding up the rotation and reducing the stop time of the biaxial rotation mechanism to shorten the initial alignment time, which effectively suppresses the influence of MEMS noise on the initial alignment error angle. The influence of ship swinging on the initial alignment error angle is also analyzed. The efficiency of the method is verified by experiments on a swinging base. Finally, a parameter adjustment approach is presented that allows the proposed method to be used with different types of MEMS. This approach is validated by experiments. All the experimental results demonstrate the efficiency and precision of the proposed method.
Highlights
An MEMS strapdown inertial navigation system (MSINS) is a combination of a strapdown inertial navigation system (SINS) and micro-electro-mechanical systems (MEMS) technology
This initial self-alignment relies on the inertial measurement unit (IMU) itself to complete the initial alignment without the aid of external information
Li: Self-Alignment Method of MEMS Biaxial Rotation Modulation Strapdown Compass for Marine Applications whose output is sensitive to the angular velocity of the earth, so it is not suitable for MEMS self-alignment
Summary
An MEMS strapdown inertial navigation system (MSINS) is a combination of a strapdown inertial navigation system (SINS) and micro-electro-mechanical systems (MEMS) technology. Li: Self-Alignment Method of MEMS Biaxial Rotation Modulation Strapdown Compass for Marine Applications whose output is sensitive to the angular velocity of the earth, so it is not suitable for MEMS self-alignment. In [9], a self-alignment method for MSINS is proposed that combines inertial alignment and the single-axis rotation modulation This method is not suitable for all types of MEMS. A novel self-alignment method of MSINS on a swinging base is proposed that completes the initial alignment of MSINS in an autonomous manner at medium and low precision, and does so with the required accuracy. Using this approach, the proposed method can be applied to different types of MEMS, and this is verified experimentally.
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