Comprehensive Error Compensation for Dual-Axis Rotational Inertial Navigation System

Zha, Feng; Chang, Lubin; He, Hongyang

doi:10.1109/jsen.2019.2960532

Cited by 48 publications

(43 citation statements)

References 29 publications

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“…This pape structed the IMU by adopting the sensor specification in Table 3. The RLG arrange in the IMU for the Z-axis up position and Z-axis down position is described in Fig During the operation of RINS, the IMU rotates according to the dual-axis 16-positi tation scheme presented in [29]. Gyro bias, which varies with the location of the IMU identified by performing system-level indirect calibration under various temperatur ditions.…”

Section: Experiments Resultsmentioning

confidence: 99%

“…The authors of [ 28 ] developed an eight-position rotation scheme that rotates the IMU using the dual-axis rotation table to compensate for the sensor error of the IMU. The authors of [ 29 , 30 ] presented techniques for rotating the IMU based on a 16-position rotation scheme and 32-position rotation scheme using the dual-axis rotation table.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, RINS is constructed using a three-axis RLG and a three-axis silicon accelerometer, and the rotation scheme of IMU is designed by importing a 16-position rotation scheme based on the dual-axis rotation table presented in [ 29 ]. The effect of gyro bias according to the position of the IMU on the navigation performance of RINS was analyzed through simulation.…”

Section: Introductionmentioning

confidence: 99%

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Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

Seo

Ryu

et al. 2022

Sensors

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In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.

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Section: Experiments Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

Seo

Ryu

et al. 2022

Sensors

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“…The motor-drive servo turntable is widely used in high-precision tracking radars [1], radio telescopes [2], inertial navigation systems [3], and other equipment that require high tracking accuracy. It is of great importance to design a controller for turntable servo system with accurate tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

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“…Regarding in-flight calibration with a rotatory IMU platform, establishing an excessive-cost IMU structure with the ability to rotate accurately in each of the three axes is necessary. However, some works have been done with single-or dual-axis rotation [17,18]. These methods are related to the observability rank of the error model of the system.…”

Section: Introductionmentioning

confidence: 99%

Opportunistic In-Flight INS Alignment Using LEO Satellites and a Rotatory IMU Platform

2021

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With the emergence of numerous low Earth orbit (LEO) satellite constellations such as Iridium-Next, Globalstar, Orbcomm, Starlink, and OneWeb, the idea of considering their downlink signals as a source of pseudorange and pseudorange rate measurements has become incredibly attractive to the community. LEO satellites could be a reliable alternative for environments or situations in which the global navigation satellite system (GNSS) is blocked or inaccessible. In this article, we present a novel in-flight alignment method for a strapdown inertial navigation system (SINS) using Doppler shift measurements obtained from single or multi-constellation LEO satellites and a rotation technique applied on the inertial measurement unit (IMU). Firstly, a regular Doppler positioning algorithm based on the extended Kalman filter (EKF) calculates states of the receiver. This system is considered as a slave block. In parallel, a master INS estimates the position, velocity, and attitude of the system. Secondly, the linearized state space model of the INS errors is formulated. The alignment model accounts for obtaining the errors of the INS by a Kalman filter. The measurements of this system are the difference in the outputs from the master and slave systems. Thirdly, as the observability rank of the system is not sufficient for estimating all the parameters, a discrete dual-axis IMU rotation sequence was simulated. By increasing the observability rank of the system, all the states were estimated. Two experiments were performed with different overhead satellites and numbers of constellations: one for a ground vehicle and another for a small flight vehicle. Finally, the results showed a significant improvement compared to stand-alone INS and the regular Doppler positioning method. The error of the ground test reached around 26 m. This error for the flight test was demonstrated in different time intervals from the starting point of the trajectory. The proposed method showed a 180% accuracy improvement compared to the Doppler positioning method for up to 4.5 min after blocking the GNSS.

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Comprehensive Error Compensation for Dual-Axis Rotational Inertial Navigation System

Cited by 48 publications

References 29 publications

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Opportunistic In-Flight INS Alignment Using LEO Satellites and a Rotatory IMU Platform

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