A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System
A redundant rotational inertial navigation system (RRINS) comprises a redundant inertial measurement unit (RIMU) and a turntable for improving reliability and navigation accuracy. Because of the multi-sensor configuration, the RIMU has a more complex error model compared with the traditional orthogo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/14/2/351 |
| _version_ | 1797619220808204288 |
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| author | Ting Zhu Lifen Wang Tao Zou Gao Peng |
| author_facet | Ting Zhu Lifen Wang Tao Zou Gao Peng |
| author_sort | Ting Zhu |
| collection | DOAJ |
| description | A redundant rotational inertial navigation system (RRINS) comprises a redundant inertial measurement unit (RIMU) and a turntable for improving reliability and navigation accuracy. Because of the multi-sensor configuration, the RIMU has a more complex error model compared with the traditional orthogonal inertial measurement unit (IMU). Therefore, the RIMU-based rotation scheme cannot simply replicate the traditional IMU-based rotation scheme. In this study, a dual-axis rotation scheme for RIMU characteristics is proposed. First, the error model of the RIMU was established, and the error compensation of RIMU caused by rotation was analyzed. Second, the principles of rotation axis switching and reciprocating rotation were summarized, and a dual-axis rotation scheme was designed by these principles. Finally, the rotation scheme was applied to an RRINS prototype consisting of RIMU (four fiber optic gyroscopes + four quartz accelerometers) and a dual-axis turntable, and then simulations and experiments were performed. The results of the simulations and experiments show that the positioning accuracy of RRINS can be obviously improved by using the proposed rotation scheme. |
| first_indexed | 2024-03-11T08:23:56Z |
| format | Article |
| id | doaj.art-34d0a3a5d59349b388cd86a0dbb9bc85 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-11T08:23:56Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-34d0a3a5d59349b388cd86a0dbb9bc852023-11-16T22:11:01ZengMDPI AGMicromachines2072-666X2023-01-0114235110.3390/mi14020351A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation SystemTing Zhu0Lifen Wang1Tao Zou2Gao Peng3School of Automation, Guangxi University of Science and Technology, Liuzhou 545006, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaSchool of Automation, Guangxi University of Science and Technology, Liuzhou 545006, ChinaA redundant rotational inertial navigation system (RRINS) comprises a redundant inertial measurement unit (RIMU) and a turntable for improving reliability and navigation accuracy. Because of the multi-sensor configuration, the RIMU has a more complex error model compared with the traditional orthogonal inertial measurement unit (IMU). Therefore, the RIMU-based rotation scheme cannot simply replicate the traditional IMU-based rotation scheme. In this study, a dual-axis rotation scheme for RIMU characteristics is proposed. First, the error model of the RIMU was established, and the error compensation of RIMU caused by rotation was analyzed. Second, the principles of rotation axis switching and reciprocating rotation were summarized, and a dual-axis rotation scheme was designed by these principles. Finally, the rotation scheme was applied to an RRINS prototype consisting of RIMU (four fiber optic gyroscopes + four quartz accelerometers) and a dual-axis turntable, and then simulations and experiments were performed. The results of the simulations and experiments show that the positioning accuracy of RRINS can be obviously improved by using the proposed rotation scheme.https://www.mdpi.com/2072-666X/14/2/351redundant rotational inertial navigation systemredundant inertial measurement unitdual-axis rotationfiber optic gyroquartz accelerometer |
| spellingShingle | Ting Zhu Lifen Wang Tao Zou Gao Peng A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System Micromachines redundant rotational inertial navigation system redundant inertial measurement unit dual-axis rotation fiber optic gyro quartz accelerometer |
| title | A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System |
| title_full | A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System |
| title_fullStr | A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System |
| title_full_unstemmed | A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System |
| title_short | A Dual-Axis Rotation Scheme for Redundant Rotational Inertial Navigation System |
| title_sort | dual axis rotation scheme for redundant rotational inertial navigation system |
| topic | redundant rotational inertial navigation system redundant inertial measurement unit dual-axis rotation fiber optic gyro quartz accelerometer |
| url | https://www.mdpi.com/2072-666X/14/2/351 |
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