An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System
Rotation modulation is an effective method to enhance the accuracy of an inertial navigation system (INS) by modulating the gyroscope drifts and accelerometer bias errors into periodically varying components. The typical RINS drives the inertial measurement unit (IMU) rotation along the vertical axi...
Main Authors: | , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2015-07-01
|
Series: | Sensors |
Subjects: | |
Online Access: | http://www.mdpi.com/1424-8220/15/8/18443 |
id |
doaj-f6b1dbec44c346999659f022eddbd4a4 |
---|---|
record_format |
Article |
spelling |
doaj-f6b1dbec44c346999659f022eddbd4a42020-11-24T21:39:31ZengMDPI AGSensors1424-82202015-07-01158184431845810.3390/s150818443s150818443An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation SystemQian Zhang0Lei Wang1Zengjun Liu2Peide Feng3School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaRotation modulation is an effective method to enhance the accuracy of an inertial navigation system (INS) by modulating the gyroscope drifts and accelerometer bias errors into periodically varying components. The typical RINS drives the inertial measurement unit (IMU) rotation along the vertical axis and the horizontal sensors’ errors are modulated, however, the azimuth angle error is closely related to vertical gyro drift, and the vertical gyro drift also should be modulated effectively. In this paper, a new rotation strategy in a dual-axis rotational INS (RINS) is proposed and the drifts of three gyros could be modulated, respectively. Experimental results from a real dual-axis RINS demonstrate that the maximum azimuth angle error is decreased from 0.04° to less than 0.01° during 1 h. Most importantly, the changing of rotation strategy leads to some additional errors in the velocity which is unacceptable in a high-precision INS. Then the paper studies the basic reason underlying horizontal velocity errors in detail and a relevant new calibration method is designed. Experimental results show that after calibration and compensation, the fluctuation and stages in the velocity curve disappear and velocity precision is improved.http://www.mdpi.com/1424-8220/15/8/18443rotational inertial navigation system (RINS)rotation modulationrotation strategyazimuth angle errorvelocity errors |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Qian Zhang Lei Wang Zengjun Liu Peide Feng |
spellingShingle |
Qian Zhang Lei Wang Zengjun Liu Peide Feng An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System Sensors rotational inertial navigation system (RINS) rotation modulation rotation strategy azimuth angle error velocity errors |
author_facet |
Qian Zhang Lei Wang Zengjun Liu Peide Feng |
author_sort |
Qian Zhang |
title |
An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System |
title_short |
An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System |
title_full |
An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System |
title_fullStr |
An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System |
title_full_unstemmed |
An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System |
title_sort |
accurate calibration method based on velocity in a rotational inertial navigation system |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2015-07-01 |
description |
Rotation modulation is an effective method to enhance the accuracy of an inertial navigation system (INS) by modulating the gyroscope drifts and accelerometer bias errors into periodically varying components. The typical RINS drives the inertial measurement unit (IMU) rotation along the vertical axis and the horizontal sensors’ errors are modulated, however, the azimuth angle error is closely related to vertical gyro drift, and the vertical gyro drift also should be modulated effectively. In this paper, a new rotation strategy in a dual-axis rotational INS (RINS) is proposed and the drifts of three gyros could be modulated, respectively. Experimental results from a real dual-axis RINS demonstrate that the maximum azimuth angle error is decreased from 0.04° to less than 0.01° during 1 h. Most importantly, the changing of rotation strategy leads to some additional errors in the velocity which is unacceptable in a high-precision INS. Then the paper studies the basic reason underlying horizontal velocity errors in detail and a relevant new calibration method is designed. Experimental results show that after calibration and compensation, the fluctuation and stages in the velocity curve disappear and velocity precision is improved. |
topic |
rotational inertial navigation system (RINS) rotation modulation rotation strategy azimuth angle error velocity errors |
url |
http://www.mdpi.com/1424-8220/15/8/18443 |
work_keys_str_mv |
AT qianzhang anaccuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT leiwang anaccuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT zengjunliu anaccuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT peidefeng anaccuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT qianzhang accuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT leiwang accuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT zengjunliu accuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem AT peidefeng accuratecalibrationmethodbasedonvelocityinarotationalinertialnavigationsystem |
_version_ |
1725930889468182528 |