Estimation and compensation of zero drifts of angular velocity sensors in strapdown inertial navigation systems

Authors: Sadchickov Yu.G.
Published in issue: #1(30)/2019
DOI: 10.18698/2541-8009-2019-1-423
Category: Aviation and Rocket-Space Engineering | Chapter: Aircraft Dynamics, Ballistics, Motion Control
Keywords: strapdown inertial navigation system, angular velocity sensor, drift, gyroscope, satellite navigation system, Kalman filter, compensation estimation, negative feedback
Published: 16.01.2019

The main disadvantage of the strapdown inertial navigation system is the error accumulation in the output parameters over time. One of the reasons for these errors is the zero drifts of the angular velocity sensors. The article describes the methods of their evaluation and compensation using the Kalman filter and compensation estimation. Both methods are based on the use of external information from a satellite navigation system. We consider GPS as the information source. A comparison of these methods is given and their performance is proved, confirmed by the test results of a strapdown inertial navigation system during a helicopter cruise flight.

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