A Self-compensation Algorithm for Drift of Platform Inertial Navigation System

Abstract

In order to improve precision of navigation of platform inertial navigation system (PINS), a self-compensation algorithm for drift of PINS is given in this paper. According to characters of this disturbance torques acting on stable shaft of platform and moving shaft of gyroscope, they are classified detailed and first described by model parameters completely reflecting their movement law in time domain, the function relation from these model parameters to output signal of gyroscope is established. An effective float encoding genetic algorithm (FGA) is designed, and then these model parameters are identified by FGA and further used to compensate the disturbance torques acting on moving shaft of gyroscope for ultimately improving the system precision. The proposed method only applies output signal of gyroscope fixed on platform as reference signal, therefore this method is a self-compensation scheme for drift of platform. A simulation example demonstrated the efficiency of the proposed approach.