<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Microelectromechanical systems (MEMS)-based strapdown navigation systems offer advantages such as small size, low cost and minimal power consumption. However, MEMS sensors are prone to significant low-frequency noise and poor bias repeatability, which can lead to navigational errors over time. These errors make them unsuitable for autonomous navigation applications, even with frequent recalibration. One way in which to solve this problem is by using the rotation modulation (RM) method. This approach is widely recognised but has only been successful with precise laser and fiber optic gyroscopes equipped with precise rotating platforms. This article focuses on the potential of adapting the RM method for the case of inexpensive MEMS sensors that can significantly improve navigation performance, while maintaining the benefits of microelectromechanical technologies. Potential issues of implementation were discussed, and corresponding requirements were formulated. The proposed optimal computation scheme was verified during static tests of the developed inertial measurement unit (IMU). Further steps in studying the adaptation of the RM method for MEMS sensors have also been outlined.</p>
</abstract>

Microelectromechanical systems (MEMS)-based strapdown navigation systems offer advantages such as small size, low cost and minimal power consumption. However, MEMS sensors are prone to significant low-frequency noise and poor bias repeatability, which can lead to navigational errors over time. These errors make them unsuitable for autonomous navigation applications, even with frequent recalibration. One way in which to solve this problem is by using the rotation modulation (RM) method. This approach is widely recognised but has only been successful with precise laser and fiber optic gyroscopes equipped with precise rotating platforms. This article focuses on the potential of adapting the RM method for the case of inexpensive MEMS sensors that can significantly improve navigation performance, while maintaining the benefits of microelectromechanical technologies. Potential issues of implementation were discussed, and corresponding requirements were formulated. The proposed optimal computation scheme was verified during static tests of the developed inertial measurement unit (IMU). Further steps in studying the adaptation of the RM method for MEMS sensors have also been outlined.

Improving Strapdown Inertial Navigation System Performance by Self-Compensation of Inertial Sensor Errors

Transactions on Aerospace Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Microelectromechanical systems (MEMS)-based strapdown navigation systems offer advantages such as small size, low cost and minimal power consumption. However,...

		Static	RM (vertical axis)	RM (horizontal axis)
ε(t = 300s ),[deg]	X	16.35	–0.95	1.08
	Y	–53.11	0.9	0.86
	Z	5.62	14.07	9.2
ΔV (t = 300s ),[m/s]	X	415.37	–33.66	30.83
	Y	–332.5	15.62	32.96
	Z	137.26	95.76	117.3
ΔS (t = 300s ),[km]	X	41.46	–3.75	3.3
	Y	–33.29	4.2	6.08
	Z	6.67	8.79	23.16

	Accelometr block	Gyroscope block
Measurement range	±16 g	±2,000°/s
Zero offset instability	0.03 mg	10°/h
Bandwidth (–3 dB)	324 (Z: 262) Hz	255 Hz
Noise density	120μg/√Hz	0.007°/s/√Hz
Non-linearity	0.5%FS	0.1%FS

Improving Strapdown Inertial Navigation System Performance by Self-Compensation of Inertial Sensor Errors

Article Category: research article

Publicado en línea: 08 dic 2023

Páginas: 41 - 51

Recibido: 01 ago 2023

Aceptado: 26 oct 2023

DOI: https://doi.org/10.2478/tar-2023-0022

Palabras clave
MEMS IMU, autonomous INS, MEMS self-compensation, rotation modulation

© 2023 Mykola Chernyak et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Results of static experiments.

Characteristics of IMU Xsens MTI-1 sensors.

Improving Strapdown Inertial Navigation System Performance by Self-Compensation of Inertial Sensor Errors

Article Category: research article

Publicado en línea: 08 dic 2023

Páginas: 41 - 51

Recibido: 01 ago 2023

Aceptado: 26 oct 2023

DOI: https://doi.org/10.2478/tar-2023-0022

Palabras claveMEMS IMU, autonomous INS, MEMS self-compensation, rotation modulation

© 2023 Mykola Chernyak et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Results of static experiments.

Characteristics of IMU Xsens MTI-1 sensors.

Palabras clave
MEMS IMU, autonomous INS, MEMS self-compensation, rotation modulation