A Self-Calibration Method for Dual-axis Rotational Inertial Navigation Systems
Abstrak
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.
Topik & Kata Kunci
Penulis (5)
Ziao Liu
Shuai Zhao
Zhijian Hu
Yilan Zhou
Tengchao Huang
Akses Cepat
- Tahun Terbit
- 2025
- Sumber Database
- DOAJ
- DOI
- 10.33012/navi.726
- Akses
- Open Access ✓