Abstract:

Using rotation to compensate gyro drift is an effective method to improve the accuracy of strapdown inertial navigation systems (SINS). The constant drift of gyros in the inertial measurement unit (IMU) is translated into periodic signals by the use of rotation and can be eliminated by integration operation. A new single-axis rotation modulation scheme is proposed firstly. Then the proposed scheme is derived and analyzed theoretically, and a simulation experiment is demonstrated. The simulation results show that the presented scheme can effectively eliminate the effects of gyro constant drift in all directions compared with the conventional single-axis rotation method and non-rotation method, thus making an improvement in the accuracy of position and attitudes greatly.