The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error model...The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.展开更多
基金Supported by the National Natural Science Foundation of China(60702003)~~
文摘The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.