A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System

Area of Science:

• Navigation Systems Engineering
• Inertial Navigation
• Sensor Fusion

Background:

• Redundant rotational inertial navigation systems (RRINS) utilize redundant inertial measurement units (RIMUs) and turntables to enhance reliability and accuracy.
• The complex error model of RIMUs necessitates specialized rotation schemes, differing from traditional inertial measurement units (IMUs).
• Existing rotation schemes are inadequate for RIMU configurations, limiting performance improvements.

Purpose of the Study:

• To propose a novel dual-axis rotation scheme specifically designed for the characteristics of RIMUs in RRINS.
• To analyze RIMU error compensation through rotation and establish a robust error model.
• To enhance the positioning accuracy of RRINS through optimized rotation strategies.

Main Methods:

• Established a detailed error model for the RIMU.
• Analyzed error compensation effects resulting from rotational maneuvers.
• Developed a dual-axis rotation scheme based on principles of rotation axis switching and reciprocating rotation.
• Implemented and validated the scheme on an RRINS prototype using simulations and experimental tests.

Main Results:

• The proposed dual-axis rotation scheme effectively addresses RIMU error characteristics.
• Simulations and experiments demonstrated significant improvements in RRINS positioning accuracy.
• The developed scheme offers a viable solution for enhancing navigation performance in complex inertial systems.

Conclusions:

• The novel dual-axis rotation scheme is effective for RIMU-based RRINS.
• This approach demonstrably improves positioning accuracy compared to conventional methods.
• The findings provide a foundation for more reliable and accurate inertial navigation solutions.