ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Error Analysis and Compensation of Size Effect in INS with IMU Rotation
Received date: 2012-11-06
Revised date: 2013-01-23
Online published: 2013-02-21
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.
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 . DOI: 10.7527/S1000-6893.2013.0079
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