A Self-Calibration Method for Dual-axis Rotational Inertial Navigation Systems скачать в хорошем качестве

A Self-Calibration Method for Dual-axis Rotational Inertial Navigation Systems

Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 72 Number 4. For full paper, or more information, https://navi.ion.org/content/72/4. Rotation modulation technology in inertial navigation systems (INS) can effectively suppress the divergence of navigation errors, thereby enhancing long-endurance navigation accuracy. However, established INS calibration methods do not fully account for non-orthogonality between the dual rotation axes, which may couple with other errors and degrade overall navigation performance. To address this issue, this paper develops a mathematical model that accounts for axis non-orthogonality and analyzes its effects on system behavior. Based on this model, the paper proposes a calibration scheme that mitigates the effect of non-orthogonality without the need for special alignment procedures. Simulation-based and experimental results demonstrate that the proposed approach effectively reduces attitude and velocity errors under both static and rotation modulation conditions. The proposed method thus represents a significant improvement in long-term navigation accuracy compared to traditional calibration methods.