Research on Instrumental Error Compensation of Strap-down Inertial Navigation System

2009 ◽  
Author(s):  
Jichao Jia ◽  
Suilao Li ◽  
Changshan Zhao ◽  
Rui Long
Keyword(s):  
Navigation System ◽  
Error Compensation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Instrumental Error

Research on Micro Inertial Sensor Error Compensation Technology in SINS

2013 ◽  
Vol 273 ◽  
pp. 532-536
Author(s):  
Jian Ming Zhang ◽  
Xing Hui Zhang
Keyword(s):  
Measurement Error ◽  
Navigation System ◽  
Error Compensation ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Calculation Error ◽  
Pretreatment Technology ◽  
Mathematical Derivation ◽  
Accelerometer Measurement

The micro inertial sensor parts (gyroscope and accelerometer) measurement error is the main factors to influence the accuracy of the inertial navigation system, in order to improve the navigation precision of SINS (strap-down inertial navigation system), we must reduce inertial sensor measurement error. Based on the error analysis of the inertial measurement device, with accelerometer attitude computation information as gyro attitude computation information reference quantity, established the algorithm of the attitude angle. In the sensor output signal pretreatment technology, this paper mainly introduced the use of surface fitting technology, to establish the error compensation surface equation, and gives the mathematical derivation of calculation error model parameter, the experiment got a good compensation effect.

scholarly journals Error Compensation of Strapdown Inertial Navigation System for the Boom-Type Roadheader under Complex Vibration

Axioms ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 224
Author(s):  
Yang Shen ◽  
Pengjiang Wang ◽  
Weixiong Zheng ◽  
Xiaodong Ji ◽  
Hai Jiang ◽  
...  
Keyword(s):  
Navigation System ◽  
Error Compensation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Linear Vibration ◽  
Load Following ◽  
Working Face ◽  
Navigation Error ◽  
Strapdown Inertial Navigation

The strapdown inertial navigation system can provide the navigation information for the boom-type roadheader in the unmanned roadway tunneling working face of the coal mine. However, the complex vibration caused by the cutting process of the boom-type roadheader may result in significant errors of its attitude and position measured by the strapdown inertial navigation system. Thus, an error compensation method based on the vibration characteristics of the roadheader is proposed in this paper. In order to further analyze the angular and linear vibration of the fuselage, as the main vibration sources of the roadheader, the dynamic model of the roadheader is formulated based on the cutting load. Following that, multiple sub-samples compensation algorithms for the coning and sculling errors are constructed. Simulation experiments were carried out under different subsample compensation algorithms, different coal and rock characteristics, and different types of roadheader. The experimental results show that the proposed error compensation algorithm can eliminate the effect of the angular and linear vibration on the measurement accuracy. The coning and sculling error of the strapdown inertial navigation system can reduce at least 52.21% and 42.89%, respectively. Finally, a strapdown inertial navigation error compensation accuracy experiment system is built, and the validity and superiority of the method proposed in this paper are verified through calculation and analysis of the data collected on the actual tunneling work face.

Sign in / Sign up

Export Citation Format

Share Document