Approach to direct coning/sculling error compensation based on the sinusoidal modelling of IMU signal

Kang, Chul Woo; Cho, Nam Ik; Park, Chan Gook

doi:10.1049/iet-rsn.2012.0094

Cited by 15 publications

(16 citation statements)

References 13 publications

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“…We can see that (69) is similar to (11). Letting c = ( · cos a − + ω 0 ), we can get c = ( · cos a − + ω 0 )/ .…”

Section: B Simulations Based On the Normalized Quaternionmentioning

confidence: 64%

“…Because the previous researchers only focus on pure coning environment [3,7,8] or focus on vibration environments [17,18], the third term (i.e., the triple-cross-product term) in (1) is small under these environments and has been ignored to simplify the integration of rotation vector as in [11] φ (t) = α (t) + δφ c (t) (2) where the variable t is within the range of t m−1 ≤ t ≤ t m . The continuous coning integral becomes [8] δφ…”

Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 99%

“…As a result, there is no attitude error for the platform under the condition of pure coning motion. Kang et al [11] proposed an approach to directly compensate the coning error based on the sinusoidal modeling of the inertial measurement unit signal. Their work shows that the direct error compensation algorithm works effectively for the navigation of vehicles with continuous and steady oscillations.…”

Section: Introductionmentioning

confidence: 99%

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High-order attitude compensation in coning and rotation coexisting environment

Wang

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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With the development of high-accuracy inertial navigation system inertial sensors, such as ring laser gyroscopes and atomic spin gyroscopes, it is increasingly important to improve the strapdown inertial navigation algorithms to match such high-accuracy inertial sensors. For example, the existing inertial navigation algorithms have not taken into account the triple-cross-product term of noncommutativity error. However, theoretical analysis demonstrates that the ignored triple-cross-product term is nonignorable under coning motion with constant angular rate precession environments. In this paper, a new high-accuracy rotation vector algorithm is proposed for strapdown inertial navigation. The Taylor series about time is used for error analysis and optimization of the new algorithm. General maneuvers and coning motion with constant angular rate precession environments are considered in establishing the coefficient equations in the proposed algorithm. Error drift equations are given after the error compensation. Normalized quaternion under coning motion with constant angular rate precession environments and Savage's severe integrated angular-rate profiles are used to numerically verify the new algorithm. The results Manuscriptindicate that the new high-order attitude updating algorithm can improve inertial navigation accuracy.NOMENCLATURE δφ c (t) = coning integral over the time interval from t m−1 to t δφ hA (t) = the integral of the triple-cross product noncommutativity rate vector over the time interval from t m−1 to t related to the coning motion, which is called the triple-cross-product term part A δφ hB (t) = the integral of the triple-cross-product noncommutativity rate vector over the time interval from t m−1 to t related to the high dynamic motion, which is called the triple-cross-product term part B δφ hA (t) = algorithms for the triple-cross-product term part A δφ hB (t) = algorithms for the triple-cross-product term part B δφ hA = nonperiodic vector of the triple-cross-product term part A in one updating cycle δφ hB = nonperiodic vector of the triple-cross-product term part B in one updating cycle δφ hA = nonperiodic vector of the triple-cross-product term part A algorithms δφ hB = nonperiodic vector of the triple-cross-product term part B algorithms α N+1−i (t) = gyro data samples spaced backward in time from time t α N+1−j (t) α N+1−k (t) ς ij = coefficients of uncompressed frequency series coning algorithms and triple-cross-product term part A's algorithms η (N+i−1) = coefficients of triple-cross-product term part B's algorithms (N+j −1) (N+k−1) a, b = coning motion amplitude c = coefficient of constant angular-rate precession = coning frequency T 0 = sampling period T = attitude updating cycle N = total number of samples used in one attitude updating cycle 1178 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 51, NO. 2 APRIL 2015 n = number of samples in the current iteration time interval m = computer interval index, where the subscript indicates parameter value at computer cycle m o () = a...

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“…We can see that (69) is similar to (11). Letting c = ( · cos a − + ω 0 ), we can get c = ( · cos a − + ω 0 )/ .…”

Section: B Simulations Based On the Normalized Quaternionmentioning

confidence: 64%

Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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High-order attitude compensation in coning and rotation coexisting environment

Wang

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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“…Since Bortz [15] proposed the theory of the rotation vector in 1971, the noncommutativity error of SINS has been effectively solved [16]. Kang et al [17] proposed a direct coning mitigation algorithm based on the sinusoidal component of gyro measurements. This algorithm can be applied to the mitigation of sculling error.…”

Section: Introductionmentioning

confidence: 99%

Research on Error Compensation Property of Strapdown Inertial Navigation System Using Dynamic Model of Shearer

Yang

Luo

et al. 2016

IEEE Access

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The strapdown inertial navigation system (SINS) can be installed on a shearer and used for monitoring its position. However, under the complex environment of the mechanized mining face, the strong vibration of the shearer may cause large calculation error. First, the dynamic model of a doubledrum shearer is built with a force analysis, and the spectrum characteristics of linear vibration and angular vibration for the fuselage are then obtained. Second, the coning error and sculling error compensation models of SINS for the shearer are derived based on vibration characteristics. Meanwhile, according to the factor of the uncompensated model, multi-sample compensation model, and different coal and rock traits and different vibration frequencies of the fuselage, the shearer SINS error compensation property under multiple parameters is researched and analyzed in simulation. Finally, simulations indicate that the SINS error compensation model with the three-sample algorithm and four-sample algorithm can improve the calculating accuracy of the shearer SINS. The coning and sculling errors can be compensated effectively by the shearer error compensation model under many vibration conditions, such as different coal and rock traits and different frequencies of the fuselage.INDEX TERMS Strapdown inertial navigation system (SINS), error compensation, accuracy analysis, dynamic model of shearer, vibration characteristic.

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“…Several description methods are developed for flight carriers, such as pitch-yaw, 16 nutation frame, 17 and spiral angles, 18 and the attack-angleand-sideslip-angle (A-S) method is particularly popular for spinning carriers currently. 5,15,19,20 Affected by the aerodynamic force, coning motion of spinning carriers has complex forms that include single circular motion, double circular motion and multiple circular motion. 21 For the single circular motion, the cone axis coincides with velocity of carriers, and it is easy to describe this single circular coning motion and calculate the total attack angle by the A-S method.…”

Section: Introductionmentioning

confidence: 99%

Measuring and solving real coning motion of spinning carriers

Zhang

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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Coning motion of spinning carriers is a complex rotating motion with various forms that include single circular motion, double circular motion and multiple circular motion. Due to the fact that it is difficult to describe the real coning motion of double circular motion and multiple circular motion by the common method of attack angle and sideslip angle (A-S), a cone frame and cone angles are defined to describe coning motion. Through analysis of measuring the relationship between coning motion and inertial devices such as gyroscopes and accelerometers, an inertial measuring method is proposed to build the measuring equation and resolving equation. A geometry-solving algorithm of real coning motion is derived in detail, and radiuses of large circle and real cone circle are obtained as well. A flight simulation of a spinning carrier with coning motion is designed and used to verify the measuring method and the geometry-solving algorithm. The result shows that: (1) the inertial measuring method has the same validity as A-S method to describe coning motion, but is superior to A-S method for the reason of providing the rotation information of carriers; (2) due to coupling relationship, the rotating angle is equal to the subtraction of roll angle and precession angle; (3) the real precession angle and the real nutation angle are calculated by the geometry-solving algorithm, and the real coning motion is obtained finally.

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Approach to direct coning/sculling error compensation based on the sinusoidal modelling of IMU signal

Cited by 15 publications

References 13 publications

High-order attitude compensation in coning and rotation coexisting environment

High-order attitude compensation in coning and rotation coexisting environment

Research on Error Compensation Property of Strapdown Inertial Navigation System Using Dynamic Model of Shearer

Measuring and solving real coning motion of spinning carriers

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