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MEMS IMU Error Mitigation Using Rotation Modulation Technique.

Shuang Du1, Wei Sun2, Yang Gao3

  • 1School of Aeronautics and Astronautics, University of Electronics Science and Technology of China, Chengdu 610000, China. sdu@uestc.edu.cn.

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|December 6, 2016
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Summary

This study introduces a rotary inertial navigation system (INS) to reduce errors from Micro-Electro-Mechanical-Systems (MEMS) inertial measurement units (IMUs). This rotary INS improves autonomous navigation during Global Navigation Satellite System (GNSS) outages.

Keywords:
MEMS IMUcalibrationerror mitigationrotation modulation

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Area of Science:

  • Navigation Systems Engineering
  • Robotics and Control Systems
  • Sensor Fusion and Integration

Background:

  • Micro-Electro-Mechanical-Systems (MEMS) inertial measurement units (IMUs) suffer from significant sensor errors, leading to rapid navigation drift in inertial navigation systems (INS).
  • External aiding, such as Global Navigation Satellite Systems (GNSS), is typically required to correct these errors, but GNSS outages, common in urban environments, pose a significant challenge.
  • Existing INS struggle to maintain accuracy during prolonged periods without external aiding.

Purpose of the Study:

  • To propose and analyze a rotary inertial navigation system (INS) designed to mitigate navigation errors caused by inherent MEMS IMU sensor inaccuracies.
  • To investigate the effectiveness of different IMU rotation schemes in reducing accumulated navigation errors.
  • To demonstrate the potential of rotary INS to extend autonomous navigation capabilities during GNSS outages.

Main Methods:

  • Implementation of a rotary INS where the IMU is mounted on a rotation platform.
  • Analysis of various IMU rotation schemes, including rotation about the X, Y, and Z axes.
  • Development and application of a calibration process to address sensor errors induced by the IMU rotation.
  • Experimental validation using two MEMS IMUs on a tri-axial rotation table.

Main Results:

  • The proposed rotary INS effectively mitigates navigation errors stemming from MEMS IMU sensor imperfections.
  • Specific rotation schemes demonstrated significant error reduction compared to non-rotating configurations.
  • The calibration process successfully removed induced sensor errors, enhancing overall system performance.
  • Experimental tests confirmed the error mitigation capabilities of IMU rotations.

Conclusions:

  • A rotary INS offers a viable solution to enhance the performance and extend the operational duration of MEMS-based INS, particularly during GNSS outages.
  • The strategic rotation of IMUs, coupled with proper calibration, can significantly improve autonomous navigation accuracy.
  • Rotary INS technology holds promise for enabling longer and more reliable autonomous navigation in challenging environments.