A Platform Control Algorithm for Long-endurance Hybrid Inertial Navigation System with Fiber Optic Gyroscope

Hybrid inertial navigation system is a new solution to increase long-endurance navigation performance based on fiber optic gyroscope. It relies on rotational mechanism tracking navigation coordinate system and isolating carrier's angular motion with static error free, while realizing rotational modulation at the same time. The output of gyroscope is always used to calculate control command. However, the axis of gyroscope and the axis of motor are nonorthogonal because of rotation modulation and carrier's motion. Therefore, it is necessary to study an effective platform control algorithm achieving both stabilization and rotation modulation. The paper proposes a platform control algorithm for tri-axis hybrid inertial navigation system. Experiments are conducted to verify the method using a self-researched hybrid navigation system. According to experimental results, the proposed method has an advantage over the traditional method.