Attitude Determination System with Rotation of Gyroscopes

Authors

DOI:

https://doi.org/10.18372/1990-5548.77.17956

Keywords:

auto-compensation, rotation, errors, gyroscope, accuracy, matrix

Abstract

A method of auto-compensation for the influence of constant biases in the output signals of gyroscopes in the system for determining the orientation of an object, based on the rotation of the gyroscopes relative to the object, is considered. The analysis of the obtained models of errors in determining the orientation and the simulation performed show the high efficiency of this method for improving the accuracy of readings. The proposed error model makes it quite easy to evaluate the efficiency of auto-compensation. It is shown that the problem may be reduced to integrating the direction cosine matrix that determine the position of the sensitive elements in the reference coordinate system.

Author Biographies

Lev Ryzhkov , National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

Doctor of Engineering Science

Professor

Institute of Aerospace Technologies

Mykola Chernyak , National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

Candidate of Science (Engineering)

Assistant Professor

Institute of Aerospace Technologies

References

Shuang Du, Wei Sun and Yang Gao MEMS IMU Error Mitigation Using Rotation Modulation Techniques // Sensors, 2016, 16, 2017, pp. 1–20. https://doi.org/10.3390/s16122017

Xueyun Wang, Jie Wu, Tao Xu and Wei Wang, „Analysis and Verification of Rotation Modulation Effects on Inertial Navigation System based on MEMS Sensors,” The journal of navigation, vol. 66, pp. 751–772, 2013.

https://doi.org/10.1017/S0373463313000246

S. V. Slesarenok, I. P. Shepet, V. I. Rubinov, and Ju. P. Titov, “Avtokompensatsija pogreshnostey navigatsionnych datchikov besplatformennoy navigatsionnoy sistemy,” Trudy MAI, vol. 86. [in Russian]

L. M. Ryzhkov and M. G. Chernyak, “Increasing the accuracy of orientation determination based on auto-compensation of errors,” Electronics and Control Systems, N 1(75), pp. 44–50, 2023.

https://doi.org/10.18372/1990-5548.75.17555

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Published

2023-09-27

Issue

Vol. 3 No. 77 (2023)

Section

AUTOMATION AND COMPUTER-INTEGRATED TECHNOLOGIES

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