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The Optimal Design of Modulation Angular Rate for MEMS-Based Rotary Semi-SINS

National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China
Avic Shaanxi Huayan Aero-Instrument Co., Ltd., Hanzhong 723102, China
Suzhou Fashion Nano Technology Co., Ltd., Suzhou 215000, China
Author to whom correspondence should be addressed.
Micromachines 2019, 10(2), 111;
Received: 6 January 2019 / Revised: 28 January 2019 / Accepted: 6 February 2019 / Published: 10 February 2019
PDF [1978 KB, uploaded 10 February 2019]


In previous studies, the semi-strapdown inertial navigation system (SSINS), based on microelectromechanical system (MEMS) sensors, had realized cross-range measurement of attitude information of high-spinning projectiles through construction of a “spin reduction” platform of the roll axis. However, further improvement of its measurement accuracy has been difficult, due to the inertial sensor error. In order to enhance the navigational accuracy, a periodically rotating method is utilized to compensate for sensor error, which is called rotation modulation. At present, the rotation scheme, as one of the core technologies, has been studied by a lot of researchers. It is known that the modulation angular rate is the main factor affecting the effectiveness of error modulation. Different from the long-endurance and low-dynamic motion characteristics of ships, however, the short-endurance and high-dynamic characteristics of the high-spinning projectile not only require the modulation angular rate to be as fast as possible but, also, the influence of the rotation speed error caused by rotating mechanism errors cannot be ignored. Combined with the rotation speed error of the rotating mechanism, this paper explored the relationship between modulation angular rate, device error, and the navigation error, and then proposed a design method for optimal modulation angular rate. Experiments were carried out to validate the performance of the method. In addition, the proposed method is applicable for rotation modulation systems with different types of motors as the rotating mechanism. View Full-Text
Keywords: rotation semi-SINS; rotation modulation; MEMS; rotation speed error rotation semi-SINS; rotation modulation; MEMS; rotation speed error

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Zhang, J.; Li, J.; Che, X.; Zhang, X.; Hu, C.; Feng, K.; Xu, T. The Optimal Design of Modulation Angular Rate for MEMS-Based Rotary Semi-SINS. Micromachines 2019, 10, 111.

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