title: A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications.
abstract: Based on stochastic modeling of Coriolis vibration gyros by the Allan variance technique, this paper discusses Angle Random Walk (ARW), Rate Random Walk (RRW) and Markov process gyroscope noises which have significant impacts on the North-finding accuracy. A new continuous rotation alignment algorithm for a Coriolis vibration gyroscope Inertial Measurement Unit (IMU) is proposed in this paper, in which the extended observation equations are used for the Kalman filter to enhance the estimation of gyro drift errors, thus improving the north-finding accuracy. Theoretical and numerical comparisons between the proposed algorithm and the traditional ones are presented. The experimental results show that the new continuous rotation alignment algorithm using the extended observation equations in the Kalman filter is more efficient than the traditional two-position alignment method. Using Coriolis vibration gyros with bias instability of 0.1°/h, a north-finding accuracy of 0.1° (1σ) is achieved by the new continuous rotation alignment algorithm, compared with 0.6° (1σ) north-finding accuracy for the two-position alignment and 1° (1σ) for the fixed-position alignment.
authors.affiliation: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. liyun2009@nudt.edu.cn.
authors.forename: Yun
authors.initials: Y
authors.lastname: Li
authors.affiliation: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. wenqiwu_lit@nudt.edu.cn.
authors.forename: Wenqi
authors.initials: W
authors.lastname: Wu
authors.affiliation: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China. jqa1987@nudt.edu.cn.
authors.forename: Qingan
authors.initials: Q
authors.lastname: Jiang
authors.affiliation: School of Civil and Environmental Engineering, UNSW Australia, Sydney 2052, NSW, Australia. jinling.wang@unsw.edu.au.
authors.forename: Jinling
authors.initials: J
authors.lastname: Wang
keywords: Coriolis vibration gyroscopes; continuous rotation IMU alignment; cost effective north-finding; stochastic modeling