Platform Inertial Navigation System Research Articles

Research on calibration method of platform inertial navigation system on precision centrifuge

In order to calibrate the error model coefficients of the platform inertial navigation system tested on the precision centrifuge accurately, the error sources of the precision centrifuge are analyzed first. Combined with the error models of the inertial instruments (liquid floated gyroscope and quartz accelerometer) in the platform inertial navigation system, the calibration model of the platform inertial navigation system tested on the centrifuge, i.e., the state equation and observation equation, is deduced. The Euler angles of the platform, the error model coefficients of the inertial instruments, the installation errors of the instruments, and especially the centrifuge errors are taken as the state variables of the system, and the outputs of the accelerometers, and the Euler angles of the platform are taken as the observation variables. Then, the calibration scheme of the platform inertial navigation system tested on the centrifuge is designed, and the corresponding simulation analysis is carried out. The error model coefficients of the instruments are estimated by the extended Kalman filter. The influence of centrifuge errors on the calibration results is analyzed, which verified that the proposed method can effectively eliminate the influence. Thereby, the calibration accuracy of the inertial navigation platform system is improved, especially high-order error coefficients.

A surrogate assisted thermal optimization framework for design of pin-fin heat sink for the platform inertial navigation system

ABSTRACT In this study, a thermal optimization framework for the platform inertial navigation system (PINS) is built. To reduce the local high temperature of the PINS, a pin-fin heat sink with staggered arrangement is designed. To reduce the dimension of the inputs and improve the optimization efficiency, a feasible global sensitivity analysis (GSA) based on kriging–high-dimensional model representation with DIviding RECTangles (DIRECT-KG-HDMR) sampling strategy is proposed. According to the GSA results, the filtered structural parameters are used to optimize the thermal performance of the heat sink, and several optimization algorithms (genetic algorithm, differential evolution, teaching–learning-based optimization, particle swarm optimization and efficient global optimization) are used for optimization. The steady thermal response of the PINS with the optimized heat sink is also studied, and the result shows that the maximum temperature of the high-temperature region of the platform is reduced by 1.08°C compared with the PINS without the heat sink.

Error analysis for the rate azimuth platform INS

To lower the cost of passive gravity navigation and dynamic gravity measurement, a rate azimuth inertial platform with a gravity sensor on it was put forward to compose a navigator with gravity measuring. Some research about this rate azimuth platform inertial navigation system was carried out, the rate azimuth horizontal reference frame and actual platform reference frame were set up, the error equationuations, which including position error, velocity error, platform angle error, course error were put up, which would contribute to the integrated system, and the simulation of error for the rate azimuth inertial platform was shown of system errors was shown.

Continuous self‐calibration of platform inertial navigation system based on attitude quaternion model

This study focuses on the continuous self-calibration of platform inertial navigation system. Since the estimate accuracy of inertial platform error coefficients would be reduced by the large misalignment angle, the inertial platform gimbal angle is used to establish the continuous self-calibration model. And furthermore, to avoid a large number of triangle operations and the phenomenon of gimbal lock in traditional Euler angle represented gimbal angle continuous self-calibration model, an attitude quaternion continuous self-calibration model is proposed. In this model, the attitude quaternion is used to replace the Euler angle to describe the rotation of the inertial platform. Then, a quaternion unscented Kalman filter based on singular value decomposition (SVD-QUKF) is proposed to calibrate the error coefficients of the inertial platform in the attitude quaternion continuous self-calibration model. Finally, the simulation and experiment results prove that the proposed quaternion continuous self-calibration model and the SVD-QUKF can calibrate all the error coefficients of inertial platform with the relative error <1%, and the calibration precision and the computing speed are better than the traditional method.

A Navigation Accuracy Evaluation Method for Multi-path Platform Inertial Navigation System

A Navigation Accuracy Evaluation Method for Multi-path Platform Inertial Navigation System

Design and Implementation of Inertial Measurement Information Acquisition System Based on XML

Platform inertial measurement information acquisition system is to acquire, store and display inertial measurement information of inertial platform navigation system by means of data communication. Due to the different types of platform inertial navigation system, the communication protocols are diverse. In this paper conducts the repetitive coding problem caused by different formats of communication protocols and put forward an improved method based on XML template applied to format of data unit in protocols. This method greatly improved the generality of acquisition software. In the premise that the acquisition board is not replaced, this method according to the type of platform to change the XML template, without compiled twice time. The inertial information acquisition system has been applied in practice. Practice has proved that this method can significantly reduce the workload of code maintenance and cut down the cost of personnel.

Accuracy Evaluation Method of Stable Platform Inertial Navigation System Based on Quantum Neural Network

This paper aims to reduce the structural complexity and navigation errors of stable platform inertial navigation system (INS). For this purpose, a new navigation error model was proposed for the stable platform INS based on quantum neural network (QNN). After reviewing several representative QNNs, the author established a QNN-based navigation error estimation algorithm on four coordinate systems, in which the angles of acceleration error were calibrated by twelve positions. Then, the QNN-based INS error model was constructed through training and testing. Next, the established model was applied to an experiment on two flight tracks with Kalman filter (KF), fixed-interval smoothing filter (smooth) and improved smoothing filter (improved). The results show that the model can significantly improve the multi-position calibration accuracy and the self-calibration accuracy of acceleration errors. The research findings shed new light on the accuracy evaluation of stable INS.

Calibration for gimbaled platform inertial navigation system on centrifuge

In order to calibrate the error coefficients of the gimbaled platform inertial navigation system on precision centrifuge precisely and effectively, a six-position calibration scheme is provided. Firstly, the error models of the platform inertial navigation system are established and the applied acceleration equation is given. Then, the redundancy of the error coefficients is analyzed and a method of studying the observability based on the correlation coefficients is proposed. Finally, the optimal calibration scheme is obtained using the genetic algorithm. Simulation results show that the error coefficients can be effectively calibrated through the proposed scheme.

Static error model of a three-floated gyroscope with a rotor supported on gas-lubricated bearings

Three-floated gyroscope with the advantages of high accuracy has been widely used in platform inertial navigation system. To investigate the influence of specific force on the measured angular velocity of a gyroscope with a rotor supported on gas-lubricated bearings, a static error model considering three-degrees-of-freedom displacement of the rotor is proposed through numerical computation. Firstly, the conical Reynolds equation incorporated with the Fukui and Kaneko’s slip model is adopted and solved by the finite difference method, and the bearing force, caused by specific force, are obtained for each rotor displacement. Secondly, the error of gyroscope measured angular velocity is calculated from bearing force and rotor displacement. Finally, the relationship between the error and specific force is obtained by regression analysis, and the static error model of the gyroscope is proposed. To simplify the ternary regression analysis to binary, two intermediate parameters, radial interference torque and circumferential angle between interference torque and specific force, are introduced. Numerical results show that interference torque is approximately π/2 ahead of specific force in circumferential direction with fz &gt; 0, and π/2 behind specific force with fz &lt; 0, and that a large interference torque is produced when the specific force in radial and axial direction are both large. The error model provides a rapid prediction of the error caused by rotor displacement by three-degrees-of-freedom specific force.

Research on Temperature Modeling of Strapdown Inertial Navigation System

Strapdown inertial navigation system with laser gyro has been deployed in space tracking ship and compared with the conventional platform inertial navigation system, it has substantial advantage in performance, accuracy and stabilization. Environmental and internal temperature affects the gyro, accelerator, electrical circuits and mechanical structure significantly but the existing temperature compensation model is not accurate enough especially when there is a big temperature change.

Heading sensitive drift behavior model for platform inertial navigation system under long-term storage

Heading sensitive drift behavior model for platform inertial navigation system under long-term storage

A New Method for Platform Inertial Navigation Initial Alignment Based on Rotation Mode

A new method for rotation mode platform inertial navigation initial alignment is presented. This method is based on sinusoidal varying speed rotation mode and thus makes the factors decoupling in real time. In this way it makes the estimation process much faster and more precise compared with previous methods. The error equations of a rotating platform inertial navigation system are introduced. We give detailed description and analysis of this method. Simulation is done based on this new method. Analysis and simulation results indicate that this method makes the platform system initial alignment achieved desired results in 207.5 seconds, while the traditional methods takes 388.1 seconds. The accuracy also has highly improved. The standard deviation of gyroscope drift decreased from 0.03°/h to 0.005°/h. This provides a theoretical foundation for platform inertial navigation system rotating mode during actual experiment and application.

Design and Implementation of Universal Detection Equipment of Inertial Navigation System Based on "Platform + Adapter Structure"

According to such problems as complicated structure, too many circuit module and online difficult detection of vehicle-mounted platform inertial navigation system, the detector adopts the detection mode of platform + adapter to realize the universalization and modularization of the detection equipment. It reduced circuit scale and the difficulty of design, strengthened systems scalability, at the same time made equipment carry and use more flexible. It realized inertial navigation board level to device level detection by using intelligent fault diagnosis technology to automatic fault diagnosis of circuit. Meanwhile, with the effective optimization of lesser detection procedures, the high efficiency and accurateness of fault isolation and location had been guaranteed, detection equipments automation, integrated, accuracy greatly raised, and detection time greatly shortened.

A Rapid Initial Alignment Alogrithm Based on Strapdown Gyrocompass

The basic principles for stabilized gyrocompass initial alignment are analyzed in platform inertial navigation system (PINS), then similar principles and initial alignment algorithms suitable for programming are proposed for strapdown inertial navigation system (SINS). The scheme of SINS gyrocompass initial alignment can be divided into four steps, including leveling alignment with header uncertainty, coarse header alignment, leveling realignment and gyrocompass alignment for header. By simplifying SINS nonlinear error model under header uncertainty, the formula of coarse header alignment is deduced. On the assumption of navigation computer having large memory and powerful computing ability, and basing on the ‘multiformity’ of SINS mathematical platform and the ability to attitude reverse control, a specific progress for SINS rapid gyrocompass alignment is introduced and designed in detail. Finally, some tests prove that the proposed alignment algorithm in this paper is effective.

The Error Analysis of Gyroscope Drifs to the Rate Azimuth Platform System

To master the influence of deterministic system error to navigation system, so can accurately present the precision index of gyroscopes and accelerometers, which are the main components of rate azimuth platform inertial navigation system, and initial calibration precision. With the error equations under static state, the characteristic equation of rate azimuth platform inertial navigation system is set up. Based on the solutions of the error equation, and the system error characteristics caused by the gyroscope drifts are deduced with analytical method.

The Influence of Initial Error to the Rate Azimuth Platform Inertial System

To lower the cost of the gravity passive navigation system, a rate azimuth inertial platform with a gravity sensor on it was put forward to constitute a navigator with gravity measuring, combined with digital gravity map, the system would come to a simple passive navigation system To master the influence of deterministic system error to navigation system, so can accurately present the precision index of gyroscopes and accelerometers, which are the main components of rate azimuth platform inertial navigation system, and initial calibration precision. With the error equations under static state, the characteristic equation of rate azimuth platform inertial navigation system is set up. Based on the solutions of the error equation, and the system error characteristics caused by the initial navigation error are deduced with analytical method.

The Error Analysis Caused by Accelerometer Drifs to the Rate Azimuth Platform Inertial System

To know the influence of deterministic system error to navigation system well, so the precision index of gyroscopes and accelerometers, which are the main components of rate azimuth platform inertial navigation system, and initial calibration precision, can be put forward. Based on the error equations, the characteristic equation of rate azimuth platform inertial system is established, and the solutions of the error equation under static state are obtained with analytical method, and the system error characteristics caused by the accelerometer drifts are analyzed.

Estimation of instrumental errors for an inertial navigation system using the Schuler period

The control mode based on using the Schuler period is a special operation mode of the INS-2000 platform inertial navigation system. This mode is used to check the consistency between the calibration parameters of INS sensors and their actual values. Several error equations are proposed for this mode. Some feasible estimation algorithms for INS instrumental errors are tested on model data.