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A dynamic attitude measurement system based on LINS.

Hanzhou Li1, Quan Pan2, Xiaoxu Wang3

  • 1School of Automation, Northwestern Polytechnical University, Xi'an 710072, China. lihanzhousins@163.com.

Sensors (Basel, Switzerland)
|September 2, 2014
PubMed
Summary
This summary is machine-generated.

A dynamic attitude measurement system (DAMS) using a laser inertial navigation system (LINS) was improved. Advanced algorithms and filters enhanced accuracy and reduced errors, achieving 20″ real-time attitude measurement.

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Area of Science:

  • Navigation Systems Engineering
  • Inertial Navigation
  • Attitude Determination

Background:

  • Dynamic attitude measurement presents challenges in accuracy due to factors like dynamic error, time synchronization, and phase lag in laser inertial navigation systems (LINS).
  • Existing methods for error compensation in LINS require further optimization for high-dynamic applications.

Purpose of the Study:

  • To develop and validate a dynamic attitude measurement system (DAMS) with enhanced accuracy and reduced errors.
  • To investigate and mitigate key error sources in LINS, specifically coning errors, time synchronization issues, and phase lag.

Main Methods:

  • Implemented an optimal coning error compensation algorithm and conducted two-axis wobbling experiments.
  • Increased attitude updating frequency from 200 Hz to 2000 Hz and designed a novel finite impulse response (FIR) filter with three notches for ring laser gyro (RLG) dither frequency.
  • Developed and verified a novel synchronization mechanism to address dynamic test synchronization and phase compensation using a single-axis turntable and laser interferometer.

Main Results:

  • The coning error compensation algorithm improved attitude accuracy twofold.
  • The novel FIR filter was five times more effective than the previous filter in reducing RLG dither noise.
  • The synchronization mechanism demonstrated perfect matching between theoretical calculations and experimental data for phase lag and induced attitude errors.
  • Final experiments achieved real-time attitude measurement accuracy of 20″ (1σ) and synchronization error below 0.2 ms under three-axis wobbling conditions.

Conclusions:

  • The developed DAMS, incorporating advanced error compensation and filtering techniques, significantly enhances attitude measurement accuracy in dynamic scenarios.
  • The novel synchronization mechanism effectively addresses phase lag and synchronization issues inherent in LINS, crucial for high-precision dynamic measurements.
  • The system achieves state-of-the-art performance, meeting stringent requirements for dynamic attitude determination.