旋转惯导中加速度计尺寸效应误差分析及补偿

doi:10.7527/S1000-6893.2013.0079

Abstract

Abstract:

The precision degradation caused by size effect during indexing in inertial navigation system (INS) with inertial measurement unit rotation for error modulation is investigated. Moreover, the mechanism of system performance influenced by size effect is studied and expressions of acceleration measurement error and velocity error due to size effect during indexing is deduced. Based on theoretical analysis, two techniques utilizing velocity error and acceleration measurement error as observables for the calibration of size effect parameters are presented and some necessary issues are discussed. By considering the error characteristics in inertial navigation system with inertial measurement unit rotation, the acceleration measurement error is selected to calibrate size effect parameters. The identification precision is better than 1.29 mm (1σ). A useful method to compensate the size effect error is proposed and navigation experiments under different initial azimuths are carried out in order to verify its validity. Experiment result indicates that after compensation, velocity error in the process of indexing is effectively suppressed.

Key words: rotation, modulation, inertial navigation systems, accelerometers, size effect, error analysis, error compensation, inertial measurement unit

CLC Number:

V249.32⁺2

REN Lei, DU Jianbang, WANG Meie. Error Analysis and Compensation of Size Effect in INS with IMU Rotation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(6): 1424-1435.

References

[1] Kuryatov V N, Cheremisenov G V, Panasenko V N. Marine INS based on the laser gyroscope KM-11. Proceedings of Symposium Gyro Technology, 2002: 19.0-19.7.

[2] Ishibashi S, Tsukioka S, Yoshida H, et al. Accuracy improvement of an inertial navigation system brought about by the rotational motion. IEEE Proceeding of OCEANS, 2007: 1-5.

[3] Sun F, Sun W. Error characteristic and experiment analysis of FOG SINS based on signal-axis rotation. Journal of Astronautics, 2010, 31(4): 1070-1077. (in Chinese) 孙枫, 孙伟. 基于单轴旋转的光纤捷联惯导系统误差特性与实验分析. 宇航学报, 2010, 31(4): 1070-1077.

[4] Yuan B L. Research on rotating inertial navigation system with four-frequency differential laser gyroscope.Changsha: National University of Defense Technology, 2007. (in Chinese) 袁保伦. 四频激光陀螺旋转式惯导系统研究. 长沙: 国防科学技术大学, 2007.

[5] Long X W, Yu X D, Zhang P F, et al.Single-rotating inertial navigation system with ring laser gyroscope. Journal of Chinese Inertial Technology, 2010, 18(2): 149-153. (in Chinese) 龙兴武, 于旭东, 张鹏飞, 等. 激光陀螺单轴旋转惯性导航系统. 中国惯性技术学报, 2010, 18(2): 149-153.

[6] Yu X D. Research on some key technologies for single-axis rotation inertial navigation system with mechanically dithered ring laser gyroscope. Changsha: National University of Defense Technology, 2011. (in Chinese) 于旭东. 二频机抖激光陀螺单轴旋转惯性导航系统若干关键技术研究. 长沙: 国防科学技术大学, 2011.

[7] Yan G M, Yan W S, Xu D M. Analysis and compensation on inner lever arm effect of strapdown inertial measurement unit. Journal of Chinese Inertial Technology, 2008, 16(2): 148-153. (in Chinese) 严恭敏, 严卫生, 徐德民. 捷联惯性测量组件中内杆臂效应分析与补偿. 中国惯性技术学报, 2008, 16(2):148-153.

[8] Yang J Y, Wang L X, Yu G Q, et al. On high-accuracy rotation compensation algorithm of carouseling platform inertial navigation system. Journal of Astronautics, 2011, 32(3): 554-559. (in Chinese) 杨建业, 汪立新, 蔚国强, 等. 旋转平台惯导系统旋转效应误差高精度补偿算法.宇航学报, 2011, 32(3): 554-559.

[9] Yang J Y, Wang L X, Yu G Q, et al. Analysis of accelerometer size effect and high-accuracy compensation algorithm in carouseling GINS. Journal of Astronautics, 2011, 32(4): 808-814. (in Chinese) 杨建业, 汪立新, 蔚国强, 等. 旋转式平台惯导加速度计尺寸效应分析及高精度补偿. 宇航学报, 2011, 32(4): 808-814.

[10] Savage P G. Strapdown analytics. Maple Plain, Minnesota: Strapdown Associates, Inc., 2000: 8.37-8.64.

[11] Ding M L, Wang Q. Design of non-gyro inertial measurement unit and research on error compensation method of angular velocity. Acta Aeronautica et Astronautica Sinica, 2006, 27(5): 922-927. (in Chinese) 丁明理, 王祁. 无陀螺惯性测量组合设计及角速度误差补偿方法研究. 航空学报, 2006, 27(5): 922-927.

[12] Tan C W, Park S S. Design of accelerometer-based inertial navigation systems. IEEE Transactions on Instrumentation and Measurement, 2005, 54(6): 2520-2530.

[13] Park S, Tan C W, Parka J. A scheme for improving the performance of a gyroscope-free inertial measurement unit. Sensors and Actuators A: Physical, 2005, 121(2): 410-420.

[14] Liu W R, Tang Y, Zhu L, et al. Effects of MINS rotation-modulating on transfer alignment. Journal of Chinese Inertial Technology, 2011, 19(1): 16-20. (in Chinese) 刘为任, 唐艳, 朱蕾, 等. 主惯导旋转调制对传递对准性能的影响. 中国惯性技术学报, 2011, 19(1): 16-20.

[15] Xie C F, Wang Q. Dynamics (I). Beijing: Higher Education Press, 1999: 17-30. (in Chinese) 谢传锋, 王琪. 动力学(I). 北京: 高等教育出版社, 1999: 17-30.

Error Analysis and Compensation of Size Effect in INS with IMU Rotation

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Wei ZHENG, Yusong WANG, Kun JIANG, Yidi WANG. Overview of X-ray pulsar-based navigation methods [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 527451-527451.
[2]	LIU Xuecheng, LIANG Hua, ZONG Haohua, XIE Like, SU Zhi. Experiment on plasma ice shape modulation based on NACA0012 airfoil [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 126283-126283.
[3]	QI Liangang, HAN Yanze, WANG Yani, GUO Qiang, Kaliuzhny MYKOLA. Multi-component LFM interference suppression method based on chirp rate turning point and FrFT [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 326840-326840.
[4]	CAO Yi, MENG Gang, JU Yongjian, XU Weisheng. Large-stroke compliant micro-positioning stage considering parasitic rotation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 425498-425498.
[5]	HAN Kai, BAI Junqiang, QIU Yasong, CHANG Min. Aerodynamic performance and flow mechanism of ducted propeller with different design variables [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 125466-125466.
[6]	TIAN Wei, CHENG Simiao, LI Bo, LIAO Wenhe. An error compensation method of an industrial robot with joint backlash [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 625569-625569.
[7]	LIAO Wenhe, TIAN Wei, LI Bo, LI Pengcheng, ZHANG Wei, LI Yufei. Error compensation technology and its application progress of an industrial robot [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 627142-627142.
[8]	LIU Xiaochao, ZHEN Yunqian, HE Xinyuan, CHEN Haiyan, SHEN Zhikang. Vortex- friction stir welding process based on internal friction between identical materials [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(2): 625012-625012.
[9]	JIANG Lijian, ZHAO Wenwen, CHEN Weifang, YAO Shaobo. Data-driven rarefied nonlinear constitutive relations based on rotation invariants [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(12): 126256-126256.
[10]	CHANG Min, SUN Yang, BAI Junqiang, MENG Xiaoxuan. Aerodynamic design optimization of twice folding wing for tube-launched UAV constrained by flat-angle rotation mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(11): 526331-526331.
[11]	FANG Jiancheng, WEI Kai, JIANG Lei, XIANG Min, LU Jixi. Scientific facilities for ultrasensitive measurement of magnetic field and inertial rotation and prospects of zero-magnetism science [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(10): 527752-527752.
[12]	LIN Chuang, ZHENG Yu, GUANG Chenhan, WANG Yan, YANG Yang. Design implementation and error analysis of mass and centroid measurement of aircraft with wingspan [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(1): 224893-224893.
[13]	JING Tong, ZANG Chaoping, ZHANG Tao, Yevgen Pavlorich PETROV. Transient forced response analysis of mistuned bladed disks under complex time-varying excitation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(9): 224529-224529.
[14]	XIONG Guomiao, LI Yunpeng, LI Pengjiao, CHEN Chao. Design and performance analysis of an integrated detection-jamming shared waveform based on PNFM-LFM composite modulation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(8): 525821-525821.
[15]	WANG Xiaolin, LIU Yuting, GU Cong, PENG Xuheng. Optimization of space vector modulation strategy based on hybrid inverter [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 324673-324673.