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

Mykola Chernyak

Mykola Chernyak

Institute of Aerospace Technologies, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute,”Kyiv, Ukraine
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Chernyak, Mykola
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Vadym Kolesnyk

Vadym Kolesnyk

Institute of Aerospace Technologies, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute,”Kyiv, Ukraine
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Kolesnyk, Vadym
  
08 déc. 2023
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Catégorie d'article: research article
Publié en ligne: 08 déc. 2023
Pages: 41 - 51
Reçu: 01 août 2023
Accepté: 26 oct. 2023
DOI: https://doi.org/10.2478/tar-2023-0022
Mots clés
© 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.

Scheme of the IMU on a rotating platform. XBYBZB – the body frame; XSYSZS – the sensor frame. IMU, inertial measurement unit.
Scheme of the IMU on a rotating platform. XBYBZB – the body frame; XSYSZS – the sensor frame. IMU, inertial measurement unit.

Figure 2.

Scheme of the stand of static products (A). uniaxial rotary stand MPU-1 (B) and a test sample, installed on it in a position with a horizontal axis of rotation (C).
Scheme of the stand of static products (A). uniaxial rotary stand MPU-1 (B) and a test sample, installed on it in a position with a horizontal axis of rotation (C).

Figure 3.

IMU output without modulating rotation. IMU, inertial measurement unit.
IMU output without modulating rotation. IMU, inertial measurement unit.

Figure 4.

Output signals of rotated IMU with modulating rotation along a vertical axis. IMU, inertial measurement unit.
Output signals of rotated IMU with modulating rotation along a vertical axis. IMU, inertial measurement unit.

Figure 5.

Output signals of rotated IMU with modulating rotation along a horizontal axis. IMU, inertial measurement unit.
Output signals of rotated IMU with modulating rotation along a horizontal axis. IMU, inertial measurement unit.

Figure 6.

Graphs of the estimations (3) of the RM IMU with vertical and horizontal rotation axis compared with the stationary case. IMU, inertial measurement unit; RM, rotation modulation.
Graphs of the estimations (3) of the RM IMU with vertical and horizontal rotation axis compared with the stationary case. IMU, inertial measurement unit; RM, rotation modulation.

Results of static experiments_

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

Characteristics of IMU Xsens MTI-1 sensors_

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
Langue:
Anglais
Périodicité:
4 fois par an
Sujets de la revue:
Ingénierie, Présentations et aperçus, Ingénierie, autres, Géosciences, Géosciences, autres, Sciences des matériaux, Sciences des matériaux, autres, Physique, Physique, autres
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