Thermal Modeling and Calibration Method in Complex Temperature Field for Single-Axis Rotational Inertial Navigation System

摘要

Single-axis rotational inertial navigation systems (single-axis RINSs) are widely used in high-accuracy navigation because of their ability to restrain the horizontal axis errors of the inertial measurement unit (IMU). The IMU errors, especially the biases, should be constant during each rotation cycle that is to be modulated and restrained. However, the temperature field, consisting of the environment temperature and the power heating of single-axis RINS, affects the IMU performance and changes the biases over time. To improve the precision of single-axis RINS, the change of IMU biases caused by the temperature should be calibrated accurately. The traditional thermal calibration model consists of the temperature and temperature change rate, which does not reflect the complex temperature field of single-axis RINS. This paper proposed a multiple regression method with a temperature gradient in the model, and in order to describe the complex temperature field thoroughly, a BP neural network method is proposed with consideration of the coupled items of the temperature variables. Experiments show that the proposed methods outperform the traditional calibration method. The navigation accuracy of single-axis RINS can be improved by up to 47.41% in lab conditions and 65.11% in the moving vehicle experiment, respectively.