Dual-axis Rotation Scheme for Inertial Navigation System Based on Controllability of Indexing Mechanism

摘要

The general 16-sequence scheme can compensate constant drifts of inertial sensors in the Rotational Inertial Navigation System(RINS), however some new navigation errors will be introduced from the coupling of the rotation and the scale factor errors or the installation errors of the inertial sensors. This paper designs two rotation schemes with controllability of indexing mechanism, called scheme A and scheme B. Two schemes can completely compensate constant drifts of inertial sensors, furthermore, scheme A can compensate the scale factor errors, scheme B can compensate the installation error. Simulation results show that: compared with the general 16-sequence scheme, when the scale factor error is dominant, scheme A is adopted, navigation positioning error is reduced by 0.1 n mile in 72 h; when the installation error is dominant, scheme B is adopted, navigation positioning error is reduced by 0.3 n mile in 72h, which verify the practicability of the rotation scheme proposed in this paper.