Cargando…

Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems

In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensa...

Descripción completa

Detalles Bibliográficos
Autores principales: Seo, Yeong-Bin, Yu, Haesung, Ryu, Kyungdon, Lee, Inseop, Oh, Juhyun, Kim, Cheonjoong, Lee, Sang Jeong, Park, Chansik
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9653864/
https://www.ncbi.nlm.nih.gov/pubmed/36366052
http://dx.doi.org/10.3390/s22218355
_version_ 1784828786490998784
author Seo, Yeong-Bin
Yu, Haesung
Ryu, Kyungdon
Lee, Inseop
Oh, Juhyun
Kim, Cheonjoong
Lee, Sang Jeong
Park, Chansik
author_facet Seo, Yeong-Bin
Yu, Haesung
Ryu, Kyungdon
Lee, Inseop
Oh, Juhyun
Kim, Cheonjoong
Lee, Sang Jeong
Park, Chansik
author_sort Seo, Yeong-Bin
collection PubMed
description In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method.
format Online
Article
Text
id pubmed-9653864
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-96538642022-11-15 Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems Seo, Yeong-Bin Yu, Haesung Ryu, Kyungdon Lee, Inseop Oh, Juhyun Kim, Cheonjoong Lee, Sang Jeong Park, Chansik Sensors (Basel) Article In this paper, a calibration method for gyro bias that changes depending on the position of the IMU (inertial measurement unit) is proposed to improve the navigation performance of RLG-based RINS (ring-laser-gyro-based rotational inertial navigation system). RINS is a navigation device that compensates for the inertial sensor errors by utilizing the rotation of the IMU. In previous studies, the rotation scheme of the IMU is designed assuming that inertial sensor errors are not affected by position of the IMU. However, changes in temperature distribution, direction of gravity, and dithering according to the rotation of the IMU affect the inertial sensor errors, such as gyro bias. These errors could degrade the long-term navigation performance of RLG-based RINS. To deal with this problem, this paper proposed a compensation method of the gyro bias that changes depending on the position of the IMU. First, RINS is reviewed using a dual-axis 16-position rotation scheme and RLG. Next, the attitude error of RLG-based RINS is derived utilizing navigation equations. The effect of the gyro bias change caused by the change in the IMU attitude for the navigation performance of RINS is analyzed based on navigation equations and simulations. Finally, system-level indirect calibrations for the Z–axis up position and Z–axis down position are performed to calculate the gyro bias change caused by the IMU attitude. The accuracy of the proposed calibration method is verified by long-term navigation test. The test results show that the proposed calibration method improves the navigation performance of RINS compared with the conventional calibration method. MDPI 2022-10-31 /pmc/articles/PMC9653864/ /pubmed/36366052 http://dx.doi.org/10.3390/s22218355 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Seo, Yeong-Bin
Yu, Haesung
Ryu, Kyungdon
Lee, Inseop
Oh, Juhyun
Kim, Cheonjoong
Lee, Sang Jeong
Park, Chansik
Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title_full Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title_fullStr Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title_full_unstemmed Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title_short Analysis of Gyro Bias Depending on the Position of Inertial Measurement Unit in Rotational Inertial Navigation Systems
title_sort analysis of gyro bias depending on the position of inertial measurement unit in rotational inertial navigation systems
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9653864/
https://www.ncbi.nlm.nih.gov/pubmed/36366052
http://dx.doi.org/10.3390/s22218355
work_keys_str_mv AT seoyeongbin analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT yuhaesung analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT ryukyungdon analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT leeinseop analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT ohjuhyun analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT kimcheonjoong analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT leesangjeong analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems
AT parkchansik analysisofgyrobiasdependingonthepositionofinertialmeasurementunitinrotationalinertialnavigationsystems