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《Chinese Journal of Scientific Instrument》 2009-12
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Auto-compensation method of SINS based on IMU rotation

Sun Feng,Sun Wei,Guo Zhen(Automation College,Harbin Engineering University,Harbin 150001,China)  
To enhance the strapdown inertial navigation precision that is influenced by constant bias of inertial sensors,a self-compensation method based on inertial measurement unit rotation is proposed.Rotary method is applied in strapdown inertial navigation system,which modulates the constant drift of IMU into a periodical vari-able signal.The constant drift of the sensors can be eliminated effectively by integral.An improved single-axis rotary modulation method,which is based on the principle of compensation with IMU single and double axis rota-tion,is proposed in this paper.The navigation error is compared with those of traditional single rotary manner and no rotary manner via simulation and experiment.Analyses and experiments show that the effect of the constant bias of the sensors can be eliminated effectively,thus the positioning accuracy can be greatly enhanced.
【Fund】: 国家自然科学基金(60775001 60834005)资助项目
【CateGory Index】: TN965
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