Abstract
The measurement error of the inertial measurement unit (IMU) seriously affects the navigation accuracy of the strap-down inertial navigation system (SINS) in polar region. In order to improve navigation precision, a self-compensation method of the single-axis rotation modulation transverse SINS based on virtual sphere model is proposed in this paper. Based on the principle of single-axis rotation modulation and the mechanism of error propagation of transverse navigation system, the error characteristics of system errors were analyzed, such as constant bias, scale factor error, installation error and random walk. Finally, the simulation and experiment are designed to validate the performance of the proposed method. The navigation results demonstrate that the navigation errors of inertial navigation system, especially constant error, can be effectively restrained by the proposed single-axis rotation modulation transverse SINS based on virtual sphere model, enhancing accuracy in long-endurance navigation in polar region.
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