Error Analysis and Compensation of MEMS Rotation Modulation Inertial Navigation System

Rotation modulation (RM) technology can effectively improve the navigation accuracy of strapdown inertial navigation system (SINS) by the periodic rotation of the rotation mechanism. But the original error characteristics of SINS will be changed after introducing the rotation modulation technology. Aiming at the practical micro-electro-mechanical system RMSINS, the error characteristics are comprehensively analyzed, and then a complete error model is established. At the same time, a reasonable parameter calibration scheme and the compensation method are designed to compensate the error in this paper. On this basis, static and dynamic experiments are carried out. The position accuracies of the rotation modulation state in the static and dynamic experiments are about ten times and about three times than that of the non-rotation state. The experimental results show that the proposed error analysis and compensation method are feasible which have been applied to the practical engineering.