Analysis and experiment of error restraint principle in an inertial navigation system with inertial sensors rotation Online publication date: Sun, 07-Aug-2016
by Kui Li; Pengyu Gao; Xueyun Wang; Lei Wang
International Journal of Sensor Networks (IJSNET), Vol. 21, No. 2, 2016
Abstract: This research developed a new inertial navigation system (INS) with two inertial measurement units (IMU) rotating bi-directionally around the vertical and longitudinal body axis respectively. Theoretical analysis and simulation of the proposed rotation INS (RINS) were presented, which demonstrated that RINS could attenuate positioning errors caused by random constant and time-related components of sensor errors, whereas it did not perform better in modulating white noise component. It also showed that in RINS, utilising inertial sensors with longer relation time and increasing rotation rate are more beneficial. In addition, bi-directional rotation could acquire better result than that unidirectional rotation. Moreover, an experimental RINS prototype with gyroscope drifts of 0.05°/h and accelerometer biases of 50 ug was built. The vehicle tests showed that RINS can achieve positioning accuracy of less than 3 n miles during 8 h (0.3 n mile/h, CEP), more than 10 times improvement than strapdown INS with the same inertial sensors.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Sensor Networks (IJSNET):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook