Research On Error Compensation Technology Of Rotary Inertial Navigation System Based On MEMS Device

The high-precision measurement of the attitude and position information of high-rotation missiles with a large amount of storage in our army is the key to guidance and precise strike.This has become the main development trend of conventional high-speed rotating missile guidance.In previous researches,the Rotary Inertial Navigation System(RINS)based on MEMS sensors realized the "over range" measurement of three-dimensional information of high-speed missiles by constructing a single-axis "rotation isolation" platform.In this paper,based on the dual functions of system reduce the rotation and modulation,the system error is analyzed and compensated to improve the guidance accuracy of the system.First of all,this article briefly explains the commonly used coordinate system and the conversion relationship of the coordinate system and explains the composition and working principle of the RINS.With a basic understanding of the RMNS,briefly analyze the error sources of the RINS and determine the main error sources that affect the accuracy of the system.Secondly,aiming at the problem of the modulation angular rate error in the output of the rotating mechanism,a new rotation scheme is analyzed and deduced,which sets the symmetric motion state within the complete modulation period to offset the residual error and the error caused by the angular rate instability in the acceleration and deceleration process of the rotating mechanism.And through the high dynamic simulation of ballistic trajectory to compare the rotation modulation effect of the new rotation scheme with the previously implemented rotation scheme.The simulation results showed that the navigation accuracy of the new rotation scheme is improved significantly under the high dynamic environment,and the implementation is relatively simple,which is of certain engineering practical value.Moreover,in view of the installation error between RINS components,including Micro Inertial Measurement Unit(MIMU)and photoelectric encoder,two important components to install error propagation mechanism analysis,due to the existence of the component installation error of missile body 3D pose serious information coupling.This paper putsforward installation error calibration method based on a set of RINS,this method realizes the installation of the components based on the error characteristics calibration error and classification,under the condition of the whole system is not disassembled.Finally,the navigation experiment is designed to verify the error compensation method mentioned above.In the experiment,the three-axis high-precision flight simulation turntable was used to simulate the high-rotation motion of the projectile.The system before and after the component installation error compensated was compared to verify the validity of the calibration method.In addition,the navigation results of the traditional rotation scheme and the new rotation scheme were compared to verify the validity of the new rotation scheme under the high-dynamic environment.The error compensation method is used to compensate the main error of the RINS,which improves the measurement accuracy of the rotating micro-inertial navigation system.