The errors of an inertial navigation system (INS) in response to gyros' errors can be effectively reduced by the rotation technique, which is a commonly used method to improve an INS's accuracy. A gyro's error consists of a deterministic contribution and a stochastic contribution. The compensation effects of gyros' deterministic errors are clear now, but the compensation effects of gyros' stochastic errors are as yet unknown. However, the compensation effects are always needed in a rotational inertial navigation system's (RINS) error analysis and optimization study. In this paper, the compensation effects of gyros' stochastic errors, which are modelled as a Gaussian white (GW) noise plus a first-order Markov process, are analysed and the specific formulae are derived. During the research, the responses of an INS's and a RINS's position error equations to gyros' stochastic errors are first analysed. Then the compensation effects of gyros' stochastic errors brought by the rotation technique are discussed by comparing the error propagation characteristics in an INS and a RINS. In order to verify the theory, a large number of simulations are carried out. The simulation results show a good consistency with the derived formulae, which can indicate the correctness of the theory. K E Y WO R D S 1. Rotational Inertial Navigation System. 2. Rotation Technique. 3. Stochastic Noises. 4. Error Analysis..

No abstract

Noncommutativity error of a strapdown inertial navigation system (SINS) in an unmanned aerial vehicle’s (UAV) vibration environment is analysed. The traditional analysis of noncommutativity errors is based on a coning motion model, which is inconsistent with a UAV’s vibration environment. In this paper the UAV’s vibration form is discussed and is modelled as a sinusoidal angular vibration and a random angular vibration. Then, SINS motion models under these two forms of vibration are built up and the formulas for the noncommutativity errors are derived separately. In addition, the effect of a multi‐sample algorithm is explored, which is an effective method for compensating for noncommutativity errors in cases of coning motion. Finally, the UAV’s vibration environment is simulated and it is indicated that the simulation results of the SINS’s noncommutativity errors are consistent with theoretical analysis

No abstract