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Analysis and Improvement of Attitude Output Accuracy in Rotation Inertial Navigation System

机译：旋转惯性导航系统姿态输出精度的分析与改进

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摘要

Inertial navigation system (INS) measures vehicle's angular rate and acceleration by orthogonally mounted tri-axis gyroscopes and accelerometers and then calculates the vehicle's real-time attitude, velocity, and position. Gyroscope drifts and accelerometer biases are the key factors that affect the navigation accuracy. Theoretical analysis and experimental results show that the influence of gyroscope drifts and accelerometer biases can be restrained greatly in rotation INS (RINS) by driving the inertial measurement unit (IMU) rotating regularly, thus improving navigation accuracy significantly. High accuracy in position and velocity should be matched with that in attitude theoretically since INS is based on dead reckoning. However, the marine and vehicle experiments show that short-term attitude output accuracy of RINS is even worse compared with that of nonrotation INS. The loss of attitude accuracy has serious impacts on many task systems where high attitude accuracy is required. This paper researched the principle of attitude output accuracy loss in RINS and then proposed a new attitude output accuracy improvement algorithm for RINS. Experiment results show that the proposed attitude compensation method can improve short-term pitch and roll output accuracy from 20 similar to 30 arc seconds to less than 5 arc seconds and azimuth output accuracy improved from 2 similar to 3 arc minutes to less than 0.5 arc minutes in RINS.
机译：惯性导航系统（INS）通过正交安装的三轴陀螺仪和加速度计测量车辆的角速度和加速度，然后计算车辆的实时姿态，速度和位置。陀螺仪的漂移和加速度计的偏差是影响导航精度的关键因素。理论分析和实验结果表明，通过惯性测量单元（IMU）定期旋转，可以极大地抑制陀螺仪漂移和加速度计偏差对INS（RINS）旋转的影响，从而显着提高导航精度。由于INS基于航位推算，因此位置和速度的高精度应与理论上的姿态匹配。然而，航海和车辆实验表明，与非旋转惯导系统相比，惯性导航系统的短期姿态输出精度甚至更差。姿态精度的降低对许多要求高度姿态精度的任务系统产生严重影响。本文研究了惯性导航系统姿态输出精度损失的原理，提出了一种新的惯性导航系统姿态输出精度改进算法。实验结果表明，所提出的姿态补偿方法可以将短期俯仰和横滚输出精度从20个类似的30弧秒提高到小于5弧秒，并且方位角输出精度从2个类似的3弧分提高到小于0.5弧分在RINS中。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第12期|768174.1-768174.10|共10页
  • 作者

    Li Kui; Gao Pengyu; Wang Lei; Zhang Qian;

  • 作者单位

    Beihang Univ, Sch Elect & Informat Engn, Beijing 100191, Peoples R China|Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China;

    Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China;

    Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China;

    Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China;

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