A vehicle angular motion isolation method for dual-axis rotational laser gyro inertial navigation system

Abstract

Aiming at the problem that the error modulation effects are affected by the angular motions of the vehicle in the dual-axis rotational laser gyro inertial navigation system (INS), a vehicle angular motion isolation method based on attitude feedback is proposed. Based on the error equations of INS, the principles of error modulation in rotation process are analyzed. Then the relationships between the navigation results and the controlled angular velocity imposed on the rotating mechanism are established. Finally, simulation models of angular motions with various forms are established. Simulation results show that this method can effectively isolate the angular motions of the vehicle and reduce the influences of the angular motions on the rotation modulation. The navigation accuracy is significantly improved.