A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System
In previous research, a semi-strapdown inertial navigation system (SSINS), based on micro-electro-mechanical system (MEMS) sensors, was able to realize over-range measurement of the attitude information of high-rotation missiles by constructing a single axis “spin reduction„ plat...
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doaj-1fe8623c68e04e21a3030671c14da42b2020-11-25T00:50:03ZengMDPI AGSensors1424-82202019-04-01197168310.3390/s19071683s19071683A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation SystemZhengyao Jing0Jie Li1Xi Zhang2Kaiqiang Feng3Tao Zheng4Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, ChinaKey Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, ChinaKey Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, ChinaKey Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, ChinaKey Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, ChinaIn previous research, a semi-strapdown inertial navigation system (SSINS), based on micro-electro-mechanical system (MEMS) sensors, was able to realize over-range measurement of the attitude information of high-rotation missiles by constructing a single axis “spin reduction„ platform. However, the MEMS sensors in SSINS were corrupted by significant sensor errors. In order to further improve SSINS measurement accuracy, a rotational modulation technique has been introduced to compensate for sensor errors. The ideal modulation angular velocity is changed sharply to achieve a constant speed, while in practical applications, the angular rate of the rotating mechanism’s output needs to go through an acceleration-deceleration process. Furthermore, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. In this paper, a novel rotation scheme is proposed which can effectively suppress the residual error in the navigation coordinate system caused by the modulation angular rate error, including the acceleration-deceleration process and instability of angular rate. The experiment results show that the position and attitude accuracy of the new rotation scheme was increased by more than 56%. In addition, the proposed scheme is applicable to navigation accuracy improvement under various dynamic conditions.https://www.mdpi.com/1424-8220/19/7/1683rotation semi-SINSrotation schemerotating angular rateerror compensation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zhengyao Jing Jie Li Xi Zhang Kaiqiang Feng Tao Zheng |
spellingShingle |
Zhengyao Jing Jie Li Xi Zhang Kaiqiang Feng Tao Zheng A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System Sensors rotation semi-SINS rotation scheme rotating angular rate error compensation |
author_facet |
Zhengyao Jing Jie Li Xi Zhang Kaiqiang Feng Tao Zheng |
author_sort |
Zhengyao Jing |
title |
A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System |
title_short |
A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System |
title_full |
A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System |
title_fullStr |
A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System |
title_full_unstemmed |
A Novel Rotation Scheme for MEMS IMU Error Mitigation Based on a Missile-Borne Rotation Semi-Strapdown Inertial Navigation System |
title_sort |
novel rotation scheme for mems imu error mitigation based on a missile-borne rotation semi-strapdown inertial navigation system |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2019-04-01 |
description |
In previous research, a semi-strapdown inertial navigation system (SSINS), based on micro-electro-mechanical system (MEMS) sensors, was able to realize over-range measurement of the attitude information of high-rotation missiles by constructing a single axis “spin reduction„ platform. However, the MEMS sensors in SSINS were corrupted by significant sensor errors. In order to further improve SSINS measurement accuracy, a rotational modulation technique has been introduced to compensate for sensor errors. The ideal modulation angular velocity is changed sharply to achieve a constant speed, while in practical applications, the angular rate of the rotating mechanism’s output needs to go through an acceleration-deceleration process. Furthermore, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. In this paper, a novel rotation scheme is proposed which can effectively suppress the residual error in the navigation coordinate system caused by the modulation angular rate error, including the acceleration-deceleration process and instability of angular rate. The experiment results show that the position and attitude accuracy of the new rotation scheme was increased by more than 56%. In addition, the proposed scheme is applicable to navigation accuracy improvement under various dynamic conditions. |
topic |
rotation semi-SINS rotation scheme rotating angular rate error compensation |
url |
https://www.mdpi.com/1424-8220/19/7/1683 |
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