Approach to direct coning/sculling error compensation based on the sinusoidal modelling of IMU signal. Issue 5 (1st June 2013)

• Record Type: Journal Article
• Authors: Kang, Chul Woo; Ik Cho, Nam; Park, Chan Gook
• Is Part Of: IET radar, sonar & navigation. Volume 7:Issue 5(2013)
• Page Start: 527
• Page End: 534
• Publication Date: 2013-06-01
• Subjects: attitude measurement -- error compensation -- gyroscopes -- inertial navigation -- parameter estimation -- polynomials -- signal detection; direct sculling error compensation -- sinusoidal modelling -- IMU signal -- direct coning mitigation algorithm -- sinusoidal component detection -- gyro measurements -- attitude computation accuracy -- inertial navigation system -- sinusoidal motion -- coning error mitigation algorithms -- higher‐order polynomial model -- sinusoidal component estimation -- gyro measurements -- higher‐order correction terms -- sinusoidal parameter estimation -- sculling error mitigation -- vehicle navigation -- steady oscillations -- continuous oscillations -- HG1700 IMU -- rate table test -- direct coning error compensation; Signal processing -- Periodicals; Radar -- Periodicals; Sonar -- Periodicals; Electronics in navigation -- Periodicals; Navigation -- Periodicals; 621.3848
• DOI: 10.1049/iet-rsn.2012.0094
• Languages: English
• ISSNs: 1751-8784

Abstract

Abstract : A direct coning mitigation algorithm based on the detection of a sinusoidal component in the gyro measurements is proposed. The coning error, which is one of dominant error sources affecting the accuracy of attitude computation in the inertial navigation system (INS), is induced by the sinusoidal motion such as a manoeuvre of vehicle or the vibration of a dithering of ring laser gyro. However, many researchers have developed coning error mitigation algorithms based on the higher‐order polynomial model and its correction terms are extracted from the gyro output without faithful consideration of the periodicity of motion. Hence, the authors first detect and estimate the sinusoidal components from gyro measurements, and then find the higher‐order correction terms from the estimated sinusoidal parameters. The authors also show that this algorithm can be applied to the mitigation of sculling error because of its duality to the coning motion. Simulation results show that the direct compensation algorithm works effectively for the navigation of vehicles with continuous and steady oscillations. Also, the rate table test with HG1700 inertial measurement unit (IMU) is conducted to show the effectiveness of proposed algorithm on real INS signal.