Infrared and Laser Engineering, Volume. 52, Issue 1, 20220414(2023)
Two-position initial alignment method for redundant rotating inertial navigation system
Figures & Tables(10)
Fig. 2. (a) Coarse alignment simulation error of roll; (b) Coarse alignment simulation error of pitch; (c) Coarse alignment simulation error of heading
Fig. 4. (a) Coarse alignment experimental error of roll; (b) Coarse alignment experimental error of pitch; (c) Coarse alignment experimental error of heading
Fig. 5. (a) Attitude error of navigation solution； (b) Velocity error of navigation solution ；(c) Position error of navigation solution
Table 1. Inertial device combination
View tableView in ArticleTable 1. Inertial device combination
IDG1 IDG2 IDG3 IDG4 C1 √ √ √ C2 √ √ √ C3 √ √ √ C4 √ √ √ Remark √ Refers to select this Inertial Device Group (IDG)
Table 2. Three position combinations
View tableView in ArticleTable 2. Three position combinations
Position1 Position2 $ \left[ {\begin{array}{*{20}{c}} {{\gamma _1}}&{{\theta _1}}&{{\psi _1}} \end{array}} \right] $ $ \left[ {\begin{array}{*{20}{c}} {{\gamma _2}}&{{\theta _2}}&{{\psi _2}} \end{array}} \right] $ Group1 $ \left[ {30^\circ {\text{ }}75^\circ {\text{ }}90^\circ } \right] $ $ \left[ {20^\circ {\text{ 29}}5^\circ {\text{ }}90^\circ } \right] $ Group2 $ \left[ {0^\circ {\text{ 0}}^\circ {\text{ }}0^\circ } \right] $ $ \left[ {0^\circ {\text{ }}5^\circ {\text{ }}90^\circ } \right] $ Group3 $ \left[ {0^\circ {\text{ 0}}^\circ {\text{ }}0^\circ } \right] $ $ \left[ {90^\circ {\text{ 0}}^\circ {\text{ }}90^\circ } \right] $
Table 3. Zero bias simulation results of inertial devices of RRINS
View tableView in ArticleTable 3. Zero bias simulation results of inertial devices of RRINS
Zero bias of gyro/(°)·h−1 Zero bias of accelerometer/ $ {10^{ - 4}}g $ Theoretical value Value of calculation Theoretical value Value of calculation Group1 Group2 Group3 Group1 Group2 Group3 Gyro1 0.01 0.0100 0.0100 0.0099 Accelerometer1 1 1.0196 1.0010 1.0005 Gyro2 0.02 0.0202 0.0202 0.0201 Accelerometer2 2 2.0019 2.0061 2.0029 Gyro3 0.03 0.0299 0.0297 0.0296 Accelerometer3 3 2.9995 3.0023 2.8358 Gyro4 0.04 0.0399 0.0401 0.0404 Accelerometer4 4 3.9970 3.9937 4.1755
Table 4. Simulation position of initial alignment
View tableView in ArticleTable 4. Simulation position of initial alignment
Position Roll/(°) Pitch/(°) Heading/(°) Position1 30 75 90 Position2 20 −65 80 Position3 0 0 0 Position4 160 20 80 Position5 0 5 90 Position6 90 0 90 Position7 20 80 80 Position8 0 0 90
Table 5. Parameters of the experimental RIMU
View tableView in ArticleTable 5. Parameters of the experimental RIMU
Parameter Gyro/(o)·h−1 Accelerometer Bias −10 - +10 $ \leqslant $ 3 mgBias stability $ \leqslant $ 0.150 $ \text{μ} {\rm{g}} $
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Tao Zou, Lifen Wang, Yuan Ren, Ting Zhu. Two-position initial alignment method for redundant rotating inertial navigation system[J]. Infrared and Laser Engineering, 2023, 52(1): 20220414
Paper Information
Category: Photoelectric measurement
Received: Mar. 25, 2022
Accepted: --
Published Online: Feb. 9, 2023
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