Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Flexure Error Analysis of RLG based INS

링레이저 자이로 관성항법시스템의 편향 오차 해석

  • 김광진 (서울대학교 기계항공공학부) ;
  • 유명종 (국방과학연구소 기술연구본부) ;
  • 박찬국 (서울대학교 기계항공공학부)
  • Published : 2006.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

Any input acceleration that bends RLG dithering axis causes flexure error, which is a source of the noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

Keywords

References

  1. D. Richardson, 'Navigation by light,' Armada International, no. 1, 2000
  2. G. M. Siouris, Aerospace Avionics Systems : A Modern Synthesis, Academic Press. Inc., 1993
  3. A. Lawrence, Modern Inertial Technology, Springer-Verlag, 1992
  4. A. D. King, 'Inertial navigation-forty years of evolution,' GEC Review, vol. 13, no. 3, 1998
  5. P. Gallon and H. Miller, 'Three axis RLG inertial sensor assembly,' Symposium Gyro Technology, Stuttgart, Germany, 1995
  6. L. W. Richardson, 'Ring laser gyro application for high accuracy Pointing and tracking in space,' Symposium Gyro Technology, Stuttgart, Germany, 1993
  7. D. J. Flynn, A Discussion of Coning Errors Exhibited by Inertial Navigation Systems, Royal Aircraft Establishment, AD-A147846, 1984
  8. J. G. Mark, R. E. Ebner, and K. Brown, 'Design of RLG inertial systems for high vibration,' PLANS '82 Symposium, 1982
  9. J. E. Bortz, 'A new mathematical formulation for strapdown inertial navigation,' IEEE Transactions on Aerospace and Electronic System, vol. AES-7, no. 1, 1971 https://doi.org/10.1109/TAES.1971.310252
  10. 박찬국, 김광진, 이장규, '최적 스트랩다운 원추 보상 알고리듬,' 제어.자동화.시스템공학 논문지, 제2권, 제3호, 1996