Control Implementation for the Single-axis Rotation and Motion-insulated Inertial Navigation System

The navigation accuracy could be improved in the rotation inertial navigation system (INS) compared to strapdown INS. However, the effectiveness of the rotation modulation could be decreased owing to the carrier motion, which is necessary to be insulated. This study analyses the motion influence on the accuracy for the single-axis rotation inertial navigation system (RINS) and designs a control implementation to isolate the azimuth angular motion and modulate the inertial sensors errors simultaneously. This control implementation is constructed by using dual DSP processor, the encoder and direct-drive motor. Its algorithm is PID with the feedforward compensation. The simulation and experimental results show that the proposed implementation can accomplish the rotation modulation and azimuth motion insulation, which can improve the navigation accuracy further.