In a high-precision ring laser gyro (RLG) inertial navigation system (INS), the g-sensitive misalignment caused by external acceleration represents one of the main error sources except for the conventional inertial measurement unit (IMU) errors (e.g., gyro drift, accelerometer bias, installation error, and scale factor error) and, thus, cannot be ignored. However, in related literature, there have been no effective suppression methods for the g-sensitive misalignment. To solve this shortcoming, this article proposes an innovative dual-axis rotation modulation navigation scheme to suppress the velocity and position errors caused by the g-sensitive misalignment, as well as conventional IMU errors. First, an error model of the g-sensitive misalignment is constructed. Then, this model is used to analyze the error propagation law of the g-sensitive misalignment in a conventional dual-axis rotation scheme. Further, based on the error propagation characteristics of each error source, the design principles of rotational modulation schemes are defined. Moreover, a 32-position dual-axis rotational modulation scheme is designed to reduce all errors, including the g-sensitive misalignment in RLG INSs. The effectiveness of the proposed rotation scheme is verified by simulations and experiments. The laboratory experimental results show that the navigation accuracy of the proposed method in this article is improved by 29.8% and 28.3% compared to the conventional 16-position scheme and 64-position scheme, respectively. The in-vehicle experiments show that the proposed method improves the accuracy by 32.7% over the 64-position scheme. The results indicate that the g-sensitive misalignment suppression is necessary in the RLG INS long-endurance autonomous navigation, and a reasonable rotational modulation scheme can effectively improve navigation accuracy.

中文翻译：

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考虑G敏感失准的高精度RLG惯性导航系统双轴旋转方案

在高精度环形激光陀螺仪（RLG）惯性导航系统（INS）中，除了传统的惯性测量单元（IMU）误差（例如陀螺仪漂移）外，外部加速度引起的重力敏感失准是主要误差源之一。 、加速度计偏差、安装误差和比例因子误差），因此不能忽略。然而，在相关文献中，对于g敏感错位还没有有效的抑制方法。为了解决这一缺点，本文提出了一种创新的双轴旋转调制导航方案，以抑制由 g 敏感未对准引起的速度和位置误差以及传统 IMU 误差。首先，构建了g敏感不对中的误差模型。然后，利用该模型分析了传统双轴旋转方案中g敏感不对中的误差传播规律。进一步，基于每个误差源的误差传播特性，定义了旋转调制方案的设计原则。此外，32位双轴旋转调制方案旨在减少所有误差，包括RLG INS中的g敏感未对准。通过仿真和实验验证了所提出的旋转方案的有效性。实验室实验结果表明，本文提出的方法的导航精度较传统的16位方案和64位方案分别提高了29.8%和28.3%。车载实验表明，该方法比64位方案精度提高了32.7%。研究结果表明，RLG INS长航时自主导航中需要采用g敏感失调抑制，合理的旋转调制方案可以有效提高导航精度。