Calibration of in-run drifts of strapdown inertial Navigation system with uniaxial modulation rotation of Measurement unit
https://doi.org/10.17285/0869-7035.2017.25.2.003-017
Abstract
Errors of a strapdown inertial navigation system (INS) based on navigation grade fiber-optic gyros (FOG) are studied, with the INS measurement unit performing modulation rotation about the axis orthogonal to the vehicle deck. The main focus is made on the problem of reducing the time of gyro in-run drifts calibration, using the GNSS data when the INS is turned on. In addition to velocity and position measurements taken by the GNSS, phase measurements from antennas spaced on a certain baseline are included.
Information processing is carried out using extended Kalman filter; the data obtained during the bench tests of prototype FOG-based INS with a rotary measurement unit, and of GNSS compasses designed by CSRI Elektropribor, are used as well.
About the Authors
G. I. Emel’yantsev
Concern CSRI Elektropribor, JCS, St. Petersburg, Russia, ITMO University, St. Petersburg,
Russian Federation
Russian Federation
A. P. Stepanov
Concern CSRI Elektropribor, JCS, St. Petersburg, Russia, ITMO University, St. Petersburg,
Russian Federation
Russian Federation
B. A. Blazhnov
Concern CSRI Elektropribor, JCS, St. Petersburg
Russian Federation
Russian Federation
References
1. Paturel Y. MARINS, the First FOG Navigation System for Submarines. Y. Paturel, V. Rumoroso, A. Chapelon, J. Honthaas. Symposium Gyro Technology, 2006.
2. iXblue, http://www.ixblue.com.
3. Levinson E., and Majure R. MARLIN – Next Generation Marine Inertial Navigator. Symposium Gyro Technology. Stuttgart. 1987, 22-23 Sept.
4. Barbour N., and Schmidt G. Inertial Sensor Technology Trends. IEEE sensors journal. 2001. Vol. 1. No 4. Pp. 332-339.
5. Sperry Marine, http://www.sperrymarine.com.
6. Northrop Grumman LITEF GmbH, http://www.litef.com.
7. Walsh Ed. Navy and Industry Investigate New Super-Accurate Optical Gyros for Possible Use on Ballistic Missile Submarines. Military & Aerospace Electronics, 2001.
8. Peshekhonov, V.G. Gyroscopic Systems: Current Status and Prospects, Giroskopiya i navigatsiya, 2011, no. 1(72), pp. 3-17.
9. Yuan Zh., Zhao L. Error Analysis of Rotray SINS Sensor. Sensors & Transducer. 2013 Sept. Vol. 156. Issue 9. P. 35-39.
10. Wei G. Research on high precision rotating inertial navigation system with ring laser gyroscope // Wei G., Long X., Yu X. 22th Saint Peters-burg International Conference on Integrated Navigation Systems, 2015 May. S.-Petersburg, Russia.
11. Stepanov, A.P., Emel'yantsev, G.I., Blazhnov, B.A. On the Effectiveness of Rotation of the Inertial Measurement Unit of a FOG-Based Platformless INS for Marine Applications. Giroskopiya i navigatsiya. 2015. No. 4(91). Pp. 42-54.
12. Vidmar, A. et al. Gyro Indexing Compensation Method and System; Patent No. US 8,566,055 B1, 2013
13. Ringlein M. J. Next Generation Strategic Submarine Navigator. Mark J. Ringlein, Neal J. Barnett, Marvin B. May. AIAA 2000. (http://www.researchgate.net)
14. Emel'yantsev, G.I., and Stepanov, A.P. Integrirovannye inertsialno-sputnikovye sistemy orientatsii i navigatsii (Integrated Inertial Satellite Systems of Orientation and Navigation), St. Petersburg, Kontsern TsNII Elektropribor, 2016.
15. Branets, V.N., Shmyglevskii I.P. Vvedenie v teoriyu besplatformennykh inertsial'nykh navigatsionnykh sistem (Introduction to Theory of Strapdown Inertial Navigation Systems). Moscow, Nauka, 1992.
16. Blazhnov, B.A., Evstifeev, M.I., Emel'yantsev, G.I., Stepanov, A.P. et al. GPS Compass with Autonomous Mode of Operation. Vehicle Test Results. 20th Saint Petersburg International Conference on Integrated Navigation Systems, 27-30 May, 2013, S.-Petersburg, Russia. Pp. 99-103.
17. Emel’yantsev G.I., Stepanov A.P., Blazhnov B.A., Semenov I.V. Improving the Accuracy of GPS Compass for Small-Sized Objects. Gyroscopy and Navigation. 2015. Vol. 6. No. 3. Pp. 166–171
Review
For citations:
Emel’yantsev G.I., Stepanov A.P., Blazhnov B.A. Calibration of in-run drifts of strapdown inertial Navigation system with uniaxial modulation rotation of Measurement unit. Giroskopiya i Navigatsiya. 2017;25(2):3-17. (In Russ.) https://doi.org/10.17285/0869-7035.2017.25.2.003-017
Views:
8
Email this article 