On the effectiveness of rotation of the inertial measurement unit of a FOG-based platformless ins for marine applications

Resumo

The errors of an autonomous platformless inertial navigation system (INS) with fiber-optic gyros (FOG), the inertial measurement unit (IMU) of which is mounted in a two-axis gimbal suspension, are analyzed. The quality criteria and the kinematic scheme of the gimbal are considered. The optimal law of IMU rotation from the standpoint of the selected minimum criterion has been calculated. Simulation was carried out to study the effects of different errors of the IMU sensors on the INS accuracy. The results obtained are confirmed by the development tests of a FOG-based INS designed by Concern CSRI Elektropribor.