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The Compensation Effects of Gyros' Stochastic Errors in a Rotational Inertial Navigation System

Published online by Cambridge University Press:  28 May 2014

Pin Lv ,
Jizhou Lai ,
Jianye Liu  and
Mengxin Nie
Pin Lv
Affiliation:
(Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Jizhou Lai*
Affiliation:
(Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Jianye Liu
Affiliation:
(Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Mengxin Nie
Affiliation:
(Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
*
(E-mail: [email protected])
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Abstract

The errors of an inertial navigation system (INS) in response to gyros' errors can be effectively reduced by the rotation technique, which is a commonly used method to improve an INS's accuracy. A gyro's error consists of a deterministic contribution and a stochastic contribution. The compensation effects of gyros' deterministic errors are clear now, but the compensation effects of gyros' stochastic errors are as yet unknown. However, the compensation effects are always needed in a rotational inertial navigation system's (RINS) error analysis and optimization study. In this paper, the compensation effects of gyros' stochastic errors, which are modelled as a Gaussian white (GW) noise plus a first-order Markov process, are analysed and the specific formulae are derived. During the research, the responses of an INS's and a RINS's position error equations to gyros' stochastic errors are first analysed. Then the compensation effects of gyros' stochastic errors brought by the rotation technique are discussed by comparing the error propagation characteristics in an INS and a RINS. In order to verify the theory, a large number of simulations are carried out. The simulation results show a good consistency with the derived formulae, which can indicate the correctness of the theory.

Keywords

Rotational Inertial Navigation SystemRotation TechniqueStochastic NoisesError Analysis.
Type
Research Article
Information
The Journal of Navigation , Volume 67 , Issue 6 , November 2014 , pp. 1069 - 1088
Copyright
Copyright © The Royal Institute of Navigation 2014 

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