Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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The Six-Position Calibration Technique of Gyro Bias for Rotational Inertial Navigation System Based on Ring Laser Gyroscope

링 레이저 자이로 기반 회전형 관성항법장치를 위한 6-자세 자이로 바이어스 교정 방법

  • Yu, Haesung (The 3rd Research and Development Institute, Agency for Defense Development,) ;
  • Kim, Cheon-Joong (The 3rd Research and Development Institute, Agency for Defense Development,) ;
  • Lee, Inseop (The 3rd Research and Development Institute, Agency for Defense Development,) ;
  • Oh, Ju-Hyun (The 3rd Research and Development Institute, Agency for Defense Development,) ;
  • Sung, Chang-Ky (The 3rd Research and Development Institute, Agency for Defense Development,) ;
  • Lee, Sangjeong (Department of Electronics Engineering, Chungnam National University,)
  • 유해성 (국방과학연구소 제3기술연구본부) ;
  • 김천중 (국방과학연구소 제3기술연구본부) ;
  • 이인섭 (국방과학연구소 제3기술연구본부) ;
  • 오주현 (국방과학연구소 제3기술연구본부) ;
  • 성창기 (국방과학연구소 제3기술연구본부) ;
  • 이상정 (충남대학교 전자전파정보통신공학과)
  • Received : 2018.08.03
  • Accepted : 2019.02.08
  • Published : 2019.04.05
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Abstract

The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.

Keywords

GSGGBW_2019_v22n2_189_f0001.png 이미지

Fig. 1. Z-Up position

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Fig. 3 Y-Up position

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Fig. 4 Y-Down position

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Fig. 7. Temp. change for calibration process

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Fig. 8. X Gyro bias(Z-Up & Y-Up angular position)

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Fig. 9. Y Gyro bias(Z-Up & Y-Up angular position)

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Fig. 10. Gyro angular position of Z-Up and Y-Up

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Fig. 11. Internal schematic of gyro

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Fig. 12. X Gyro bias(Z-Up & Y-Up angular position)

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Fig. 13. Y Gyro bias(Z-Up & Y-Up angular position)

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Fig. 2. Z-Down position

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Fig. 5 X-Up position

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Fig. 6 X-Down position

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