Error Analysis and Simulation of the Dual-Axis Rotation-Dwell Autocompensating Strapdown Inertial Navigation System

The error divergence of the strapdown inertial navigation system (INS) could be restrained through systemic rotation autocompensation technique. This technique could effectively bring system better precision performance without using higher precision gyros and accelerometers. An eight-position dual-axis rotation-dwell scheme is introduced, and system error equation is derived and analyzed. By implementing this scheme the behaviors of some errors change. Error analysis shows that the system error caused by constant bias and slowly-varying shift of the inertial sensors are effectively attenuated, and the system errors caused by scale factor instability, input axis misalignment and random white noise couldn't be attenuated. The error model of the dual-axis rotation-dwell inertial navigation system is designed in digital computer, and the theoretical conclusion is validated.