Analysis and Verification of Rotation Modulation Effects on Inertial Navigation System based on MEMS Sensors

摘要

Inertial Navigation Systems (INS) were large, heavy and expensive until the development of cost-effective inertial sensors constructed with Micro-electro-mechanical systems (MEMS). However, the large errors and poor error repeatability of MEMS sensors make them inadequate for application in many situations even with frequent calibration. To solve this problem, a systematic error auto-compensation method, Rotation Modulation (RM) is introduced and detailed. RM does no damage to autonomy, which is one of the most important characteristics of an INS. In this paper, the RM effects on navigation performance are analysed and different forms of rotation schemes are discussed. A MEMS-based INS with the RM technique applied is developed and specific calibrations related to rotation are investigated. Experiments on the developed system are conducted and results verify that RM can significantly improve navigation performance of MEMS-based INS. The attitude accuracy is improved by a factor of 5, and velocity/position accuracy by a factor of 10.