Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensa...
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MDPI AG
2022-10-01
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| Online Access: | https://www.mdpi.com/1424-8220/22/21/8355 |
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| author | Yeong-Bin Seo Haesung Yu Kyungdon Ryu Inseop Lee Juhyun Oh Cheonjoong Kim Sang Jeong Lee Chansik Park |
| author_facet | Yeong-Bin Seo Haesung Yu Kyungdon Ryu Inseop Lee Juhyun Oh Cheonjoong Kim Sang Jeong Lee Chansik Park |
| author_sort | Yeong-Bin Seo |
| collection | DOAJ |
| description | In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the <i>Z</i>–axis up position and <i>Z</i>–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method. |
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| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T18:40:28Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
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| series | Sensors |
| spelling | doaj.art-cc993e06737c47a2879464b2860d313b2023-11-24T06:46:44ZengMDPI AGSensors1424-82202022-10-012221835510.3390/s22218355Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation SystemsYeong-Bin Seo0Haesung Yu1Kyungdon Ryu2Inseop Lee3Juhyun Oh4Cheonjoong Kim5Sang Jeong Lee6Chansik Park7Weapon System Engineering, University of Science and Technology, Daejeon 34113, KoreaAgency for Defense Development, Daejeon 34186, KoreaAgency for Defense Development, Daejeon 34186, KoreaAgency for Defense Development, Daejeon 34186, KoreaAgency for Defense Development, Daejeon 34186, KoreaAgency for Defense Development, Daejeon 34186, KoreaDepartment of Electronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon 34134, KoreaDepartment of Intelligent Systems and Robotics, Chungbuk National University, 1 Chungdae-ro, Seowon-gu, Cheongju 28644, KoreaIn this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the <i>Z</i>–axis up position and <i>Z</i>–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.https://www.mdpi.com/1424-8220/22/21/8355bias compensationring laser gyro (RLG)rotational inertial navigation system (RINS)system-level indirect calibration |
| spellingShingle | Yeong-Bin Seo Haesung Yu Kyungdon Ryu Inseop Lee Juhyun Oh Cheonjoong Kim Sang Jeong Lee Chansik Park Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems Sensors bias compensation ring laser gyro (RLG) rotational inertial navigation system (RINS) system-level indirect calibration |
| title | Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems |
| title_full | Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems |
| title_fullStr | Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems |
| title_full_unstemmed | Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems |
| title_short | Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems |
| title_sort | analysis of gyro bias depending on the position of inertial measurement unit in rotational inertial navigation systems |
| topic | bias compensation ring laser gyro (RLG) rotational inertial navigation system (RINS) system-level indirect calibration |
| url | https://www.mdpi.com/1424-8220/22/21/8355 |
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