Abstract
A rotary inertial navigation system requires higher calibration accuracy of some error parameters owing to rotation. Conventional multiposition and rotation calibration methods are limited, for they do not consider sensors’ actual operating condition. In order to achieve these parameters’ values as closely as possible to their true values in application, their influence on navigation is analyzed, and a relevant new calibration method based on a system’s velocity output during navigation is designed for the vital error parameters, including inertial sensors’ installation errors and the scale factor error of fiber optic gyro. Most importantly, this approach requires no additional devices compared to the conventional method and costs merely several minutes. Experimental results from a real dual-axis rotary fiber optic gyro inertial navigation system demonstrate the practicability and higher precision of the suggested approach.
Highlights
It has becomes a trend that fiber optic gyro (FOG) is employed in inertial navigation systems (INS) due to its low cost, small size, low power consumption, and high reliability.[1,2] Rotating inertial measurement units (IMU) periodically can bound the free propagation of the INS error introduced by gyro drift.[3,4] this method is applied to improve the precision of FOG INS
This paper examines a dual-axis rotary FOG INS with a new rotation strategy that rotates several circles along with the z axis to bound the drifts of gyros x and y and quickly rotates 180 deg along the x axis to reduce the impact of gyro z’s drift, by which the drifts of gyros x and y can be mitigated more efficiently
The system used in this experiment consists of three FOGs with an accuracy of 0.05 deg ∕h and three quartz accelerometers with an accuracy of 60 μg
Summary
It has becomes a trend that fiber optic gyro (FOG) is employed in inertial navigation systems (INS) due to its low cost, small size, low power consumption, and high reliability.[1,2] Rotating inertial measurement units (IMU) periodically can bound the free propagation of the INS error introduced by gyro drift.[3,4] this method is applied to improve the precision of FOG INS. As a single-axis rotary INS has an effect on only two gyros,[5,6] one more rotation axis should be added at least to reduce the impact of all three gyros and achieve higher precision of navigation results.[7,8] A typical rotation strategy of dual-axis rotary INS is presented in Ref. 9. This strategy plays an equal role in the three gyros named x, y, and z. For the change of rotation strategy, the influence of error parameters on navigation is diverse and the calibration associated with this should be redesigned
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