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Sensors 2014, 14(4), 7156-7180; doi:10.3390/s140407156

Angular Rate Optimal Design for the Rotary Strapdown Inertial Navigation System

1
and
1,2,*
1
Collage of Automation, Harbin Engineering University, 145 Nantong Avenue, Harbin 150001, China
2
Department of Earth and Space Science and Engineering, York University, 4700 Keele Street, Toronto ON M3J 1P3, Canada
*
Author to whom correspondence should be addressed.
Received: 2 February 2014 / Revised: 28 March 2014 / Accepted: 2 April 2014 / Published: 22 April 2014
(This article belongs to the Section Physical Sensors)
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Abstract

Due to the characteristics of high precision for a long duration, the rotary strapdown inertial navigation system (RSINS) has been widely used in submarines and surface ships. Nowadays, the core technology, the rotating scheme, has been studied by numerous researchers. It is well known that as one of the key technologies, the rotating angular rate seriously influences the effectiveness of the error modulating. In order to design the optimal rotating angular rate of the RSINS, the relationship between the rotating angular rate and the velocity error of the RSINS was analyzed in detail based on the Laplace transform and the inverse Laplace transform in this paper. The analysis results showed that the velocity error of the RSINS depends on not only the sensor error, but also the rotating angular rate. In order to minimize the velocity error, the rotating angular rate of the RSINS should match the sensor error. One optimal design method for the rotating rate of the RSINS was also proposed in this paper. Simulation and experimental results verified the validity and superiority of this optimal design method for the rotating rate of the RSINS. View Full-Text
Keywords: rotary strapdown inertial navigation system; rotation modulation; rotating angular rate; optimal design rotary strapdown inertial navigation system; rotation modulation; rotating angular rate; optimal design
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Yu, F.; Sun, Q. Angular Rate Optimal Design for the Rotary Strapdown Inertial Navigation System. Sensors 2014, 14, 7156-7180.

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