Analysis of Sculling Motion Errors Caused by Sensor Transfer Function Imperfections in Strapdown Inertial Navigation Systems

摘要

Sculling compensation algorithms implemented in strap-down inertial navigation systems are designed to treat low frequency acceleration signals originated from a simultaneous linear and angular high frequency vibration through the strap-down navigation equations nonlinearity. However, if the inertial sensor transfer functions are imperfect, the low frequency terms might not be completely compensated, thus causing an effective bias in the accelerometer output. In the present work a quantitative analysis of the uncompensated sculling errors caused by the sensor transfer function imperfections is carried out in the case of the pure sculling motion. The obtained results can be used to facilitate the selection of the appropriate inertial sensors to meet the prescribed navigation accuracy requirements. The presented analysis is especially important if low cost (e.g., MEMS) sensors are considered for implementation in strap-down INS.