A New Self-Calibration and Compensation Method for Installation Errors of Uniaxial Rotation Module Inertial...

Area of Science:

• Navigation Systems Engineering
• Control Systems Theory
• Geomatics Engineering

Background:

• Strap-down inertial navigation systems (SINS) require precise calibration for accuracy.
• Uniaxial rotation module inertial navigation systems (URMINS) are susceptible to installation errors after module replacement, degrading performance.
• Existing calibration methods often require additional equipment or information.

Purpose of the Study:

• To propose a novel self-calibration and compensation method for installation errors in URMINS.
• To enhance navigation accuracy by addressing inter-module installation errors without external aids.
• To validate the method's effectiveness through simulations and experiments.

Main Methods:

• Utilizing attitude, velocity, and position differences from dual URMINS outputs as measurements.
• Constructing a Kalman filter to estimate installation errors between modules.
• Applying compensation based on estimated errors and averaging redundant navigation information.

Main Results:

• The self-calibration method accurately estimates installation errors, with accuracy better than 5 arcseconds in simulations.
• Experimental results show significant improvements: 73.12% in heading angle accuracy and 81.19% in positioning accuracy.
• The method effectively compensates for installation errors, improving overall URMINS performance.

Conclusions:

• The proposed self-calibration and compensation method is effective for URMINS.
• The technique enhances navigation accuracy without requiring additional equipment or information.
• Simulation and experimental validation confirm the method's practical applicability and performance benefits.