A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate

doi:10.3969/j.issn.1000-1093.2016.12.011

Abstract

Abstract: In traditional SINS/STAR integrated navigation system, the stellar attitude information needs to be converted from inertial coordinate system to navigation coordinate system. Since the geographic position information needs to be introduced in the conversion process of attitude information, it is inevitably to introduce the conversion error and is unable to take full use of the correction effect of high precision stellar attitude information on the error of inertial navigation system. In consideration that the gyroscope output information and the stellar attitude information can be directly obtained in the inertial reference frame, a SINS/STAR integrated navigation method based on the online estimation of gyroscope error in inertial coordinate is proposed. The drift error of gyro can be estimated online in inertial coordinate by establishing the mathematical model of SINS/STAR integrated navigation based on gyroscope error. The inertial navigation error caused by the drift error of gyro can be effectively reduced by correcting the gyro error in real-time. The simulated results show that the proposed method can effectively estimate the drift error of gyro, and improve the accuracy of inertial navigation system.

Key words: control science and technology, SINS/STAR integrated system, gyroscope drift error, inertial coordinate, open loop estimation

CLC Number:

V249.32⁺8

ZHAO Hui, XIONG Zhi, SHI Li-juan, YU Feng, LIN Ai-jun. A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate[J]. Acta Armamentarii, 2016, 37(12): 2259-2267.

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