Error Modulation Scheme Analyzing for Dual-Axis Rotating Fiber-Optic Gyro Inertial Navigation System

Some important problems of designing Rotating Inertial Navigation System (RINS) including error modulation mechanisms, error propagation characteristics and rotating scheme designing were formulated to analyze. The RINS error propagation characteristics were illustrated by considering a few typical error sources and examining the effect they have on particular outputs. A dual-axis rotating scheme was developed to realize the goal of averaging out all constant error sources. Based on this rotating scheme, the effects of errors that originate in the inertial measurement unit (IMU) coordinate frame were analyzed in terms of the resulting rate errors or acceleration errors in the navigation coordinate frame. To illustrate how the error propagation can be shaped, integrals of the errors were also examined only considering self-induced motions. At the last, simulation results were given to verify the long-time error modulation effects and the efficiency of our rotating scheme.