| Citation: | WANG L F，ZOU T，REN Y，et al. Fine alignment method for biaxial redundant rotating inertial navigation system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（11）：3348-3357 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0818
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Compared with the strapdown inertial navigation system, the redundant rotating inertial navigation system (RRINS) improves its reliability and reduces the impact of constant error of inertial components on its navigation performance by rotating modulation technology. According to the requirement of high-precision initial alignment of this kind of system, regular tetrahedral RRINS was taken as an example to study its fine alignment. Firstly, the fine alignment error model of combined three gyroscopes and three accelerometers was established. Secondly, the Kalman filter and biaxial transposition scheme were designed. Finally, the fine alignment results of each combination and the mean value of zero bias of the gyroscope and accelerometer were used as the final estimation results. The simulation results show that the relative error of zero bias estimation of the accelerometer is less than 0.2%, and that of the gyroscope is less than 0.1%. The fine alignment experiment results show that the fine alignment error of the proposed method is reduced by more than 75% compared with that of the static base within the same time. The attitude error of the navigation solution is reduced by more than 65% after compensating for the inertial component measurement information with the zero bias estimated in the fine alignment experiment, and the navigation performance is effectively improved. The simulation and experimental results show that the proposed method can effectively improve the fine alignment accuracy and accurately estimate the zero bias of the inertial component.
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