Error auto-compensation technology of inertial navigation system based on double-axis rotation

To solve the problem that the gyro drift decreased the long-time navigation accuracy, a new auto-compensation scheme with double units was put forward. The constant gyro drifts could be modulated in all directions by continuous rotation, so as to improve the accuracy of the inertial navigation system greatly. The error characters of system errors were analyzed, such as constant gyro drift, scale coefficient error, installation error and angle random walk. The influence of rotating mechanism precision on the modulation performance was also demonstrated. Multiple sea tests were operated by the double-axis rotary laser strapdown inertial navigation system which was self-developed. The results show that the scheme is efficient and the accuracy of the system can be improved by one order of magnitude while the precision of the inertial components is unchanged.