Modulation Error Analysis And Calibration Technique On Dual-axis Rotating INS With Fiber Gyroscope

Rotating inertial navigation system by means of reasonable moving the IMU inertial measurement unit to modulate the measure error caused by inertial device into trigonometric form in order to not accumulate system error over time and achieve high precision navigation purposes.This paper analyzes the effect of partly modulation error source on Dual-axis Rotating INS with Fiber Gyroscope and research calibration technique of two-platform.Contents of this article are based on rotating fiber INS experiments.The main content:First,Having brief narrated the basic principle of dual-axis rotating modulation technology and rotating modulation scheme design,Due to extra rotation motion,the rotating INS different from general INS just need analysis inertia devices installation errors,and scale factor,also need analysis additional modulation errors,including inertia devices errors couple speed items;IMU measurement unit relative vector and rotation device exists installation deviation items;measure angle errors items of encoder on rotation device;second order nonlinear errors of accelerometer couple rotation motion items.Second,For two-axis inertial navigation-long range,high precision navigation requirements,proposing the 12 position online calibration scheme,Stimulating the different error items of inertial detection devices by turning IMU in accordance with the calibration scheme,Building the attitude errors equation and speed error equation,then get the result and conclude calibration according to the both equations,This scheme has a shorter-time calibration,does not rely on three-axis platform,low cost advantage.Last,have done static navigation computer simulation experiment and on the dual-axis rotating inertial navigation.for more further validate feasibility of dual-axis rotating modulation technology and dual-axis 12 positions turn on-site calibration technology;respectively done the static navigation test with laboratory setting,dynamic navigation test with Songhua River setting by using laboratory dual-axis rotating inertial navigation system.After the analysis of experimental data,dual-axis 12-position turning on-site calibration basically can finish calibration.