A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS

This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instabilit...

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Bibliographic Details
Published inNavigation (Washington) Vol. 70; no. 4; p. navi.620
Main Authors Cui, Jiarui, Wu, Wenqi, Ma, Tiefeng, Wang, Maosong, Ji, Chengjun
Format Journal Article
LanguageEnglish
Published Institute of Navigation 01.01.2023
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Summary:This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instability and RLG bias instability error in real time, in which the geometric constraints of the FOG-INS rotating axis are deployed to establish the observation equation without external reference information. In addition, the proposed method has a global navigation capability, which is achieved by using the normal vector of the earth ellipsoid and the state transformation extended Kalman filter to predict positioning errors. An output position error compensation method is used without disturbing the original INSs. Simulation and physical experiment results show that the positioning error of the heterogeneous redundant marine INS is reduced by more than 30% over 300 h of navigation.
ISSN:0028-1522
2161-4296
DOI:10.33012/navi.620