Analysis of response delay of the attitude in a single-axis rotation INS/GPS system

Jing Zhu; Xingshu Wang; Jun Wang; Dongkai Dai; Hao Xiong

doi:10.1117/12.2229335

26 January 2016 Analysis of response delay of the attitude in a single-axis rotation INS/GPS system

Jing Zhu, Xingshu Wang, Jun Wang, Dongkai Dai, Hao Xiong

Proceedings Volume 9796, Selected Papers of the Photoelectronic Technology Committee Conferences held November 2015; 97961T (2016) https://doi.org/10.1117/12.2229335
Event: Selected Proceedings of the Chinese Society for Optical Engineering Conferences held November 2015, 2015, Various, China

Abstract

Deflections of the vertical (DOV) are normally ignored in the gravity compensation procedure, which become one of the primary error sources in inertial navigation. In a single-axis rotation INS/GPS system, bias of the gyro and the accelerometer can be ignored, the attitude error is mainly affected by DOV. In this paper, the ideal system assumption is abandoned and the influence of DOV on the attitude is comprehensively discussed, which can be divided into two parts i.e. the direct influence and the indirect influence. The attitude error tracks the DOV along the trajectory belongs to the former. A relatively fixed delay between the attitude error and the DOV belongs to the latter. The delay is essentially induced by the weak observability of the system to the violent DOV. Factors which affect the delay are carefully analyzed. The simulation results show that the delay is mainly affected by accuracies of the inertial sensors and the GPS. It decreases with the GPS accuracy increasing, but increases with the inertial sensor accuracy increasing. The process noise covariance matrix Q plays an important role. With analysis of the characteristics of the delay, influence of the DOV on attitude is studied further, which is necessary for the attitude correction in future.

Citation Download Citation

Jing Zhu, Xingshu Wang, Jun Wang, Dongkai Dai, and Hao Xiong "Analysis of response delay of the attitude in a single-axis rotation INS/GPS system", Proc. SPIE 9796, Selected Papers of the Photoelectronic Technology Committee Conferences held November 2015, 97961T (26 January 2016); https://doi.org/10.1117/12.2229335

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