Abstract
Accurate estimation of orientation is very important in the field of inertial navigation. With the development of the technology of micro electro mechanical systems (MEMS), suppressing the influence of a gyro drift by means of continuous rotation (“carouseling”) has become a research hotspot. However, most of the current studies are still experiments conducted on the horizontal plane but carrying out north-seeking research on non-horizontal planes is also much valuable because it is common in practical scenarios, such as in the mining and drilling environment. In this paper, a feasible dynamic north-finder method for a micro inertial measurement unit (MIMU) based on the MEMS technology on a tilting plane is proposed. The fast Fourier transform (FFT) algorithm is used to analyze the appropriate rotation rate, and the tilting angle and heading angle are calculated in real time by an optimal weighted fusion based on recursive least squares (OWFBRLS) algorithm. Higher-precision orientation results can be achieved through the introduction of the optimal weighted fusion (OWF) theory. This paper demonstrates the experimental method and data processing in detail. The experimental results indicate that the proposed algorithm can provide accurate inclinations and headings, and the standard deviation (SD) of heading angle can reach approximately 0.6° in 3 minutes, which is superior to the methods in the literature and still has high precision in the case of large tilting angles. These profound results prove the feasibility and effectiveness of the proposed method.
Highlights
In the application of positioning, aiming and inertial navigation, the initial orientation is required; it is crucial to improve the accuracy of azimuth [1]
There is no paper discussing the impact of different rotation rates on the effective signal identification of a mechanical systems (MEMS) gyro from the frequency domain perspective; this is undoubtedly not rigorous. Because both of the two accelerometers of micro inertial measurement unit (MIMU) can be used to solve the tilt angle, we propose use of the optimal weighted fusion based on recursive least squares (OWFBRLS) method to improve the accuracy of calculation of inclination
As the s frame rotates around the z-axis, the effective component of the earth rotation rate is projected into the s frame, forming a sine or a cosine signal; the effective signal measured by the MEMS gyro is the modulated signal that can be detected if the influence of the gyro drift or other noise can be removed
Summary
In the application of positioning, aiming and inertial navigation, the initial orientation is required; it is crucial to improve the accuracy of azimuth [1]. The associate editor coordinating the review of this manuscript and approving it for publication was Sun-Yuan Hsieh. Because of these limitations, high-precision gyros, such as fiber optic gyros (FOGs), ring lasers gyros (RLGs) and hemispherical resonator gyros, are used in gyro compass. High-precision gyros, such as fiber optic gyros (FOGs), ring lasers gyros (RLGs) and hemispherical resonator gyros, are used in gyro compass Because of their size, weight and power consumption (SWaP), they are not very suitable for making portable or hand-held systems. MEMS gyros have played a key role in automotive aerospace and consumer electronics
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