Abstract
With the development of rotation modulation, dual-axis rotational inertial navigation systems (RINS) are gradually applied to unmanned aerial vehicles (UAV) to cope with the increasing prominence of GNSS spoofing. The urgent need for autonomous navigation has promoted a popular topic of improving RINS accuracy. However, few have delved into error excitation and propagation from the perspective of carrier maneuvering. Starting from the error phenomena in a UAV flight experiment, this paper studies the error propagation mechanism of gyro installation error in dual-axis RINS under coordinated U-turn. Specifically, the coupling between the control strategies of the dual-axis RINS and the UAV typical maneuvers is revealed. On this basis, the error propagation mechanism for the gyro installation error is derived. Simulations validate the analyzed theory and illustrate the severity of this error source through flight and compensation experiments, where regular identification in highly dynamic applications becomes crucial to improve navigation accuracy.
Published Version
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