The theory analysis of the interference fringe for the dual beam system is currently based on the ordinary Gaussian beam model where the velocity measured by dual beam LDV is v =λ fd/ (2sinα0 ) . αo is the half intersection angle between two intersecting laser beams. And the direction of the velocity is along the normal of the bisector of the optical axis of two output beams ( y axis) after focused by the positive lens. This study establishes two interference fringe models for the dual beam LDV based on the ordinary Gaussian beam and off-axis Gaussian beam model, respectively. In Model one and Model two, the velocity of the particles running through the measurement volume is vmodel1 = λfd/(sinα1+ sinα2 and Vmodel2 = λfd/(2tanα0) , respectively, where α1 is the angle between optical axis of one output beam and the positive lens, and α2 is the angle between optical axis of other output beam and the positive lens. Two models indicate that when the distances between the optical axis of two input parallel beams and the positive lens is not equal, there is an angle between the distributing direction of the interference fringe and y axis.
The water track laser Doppler velocimeter (WTLDV) reported by our group recently emits laser to sense the moving velocity of the carrier in forward direction relative to water in underwater environment. And SINS/WTLDV integrated navigation system is a promising underwater navigation system with high concealment and autonomy. In this study, a calibration system for WTLDV combining the pitch independent laser Doppler velocimeter (PILDV) and the towing tank is presented to obtain the velocity measurement accuracy of WTLDV in water. The heading angle of PILDV mounted on the cart should be calibrated firstly using the distance observation-based method. The three main contributions of uncertainty in the calibration system are discussed. The expanded uncertainty of the calibration system is less than 0.11%. one hundred times measurement by PILDV under the same set velocity of the cart indicate that the towing velocity of the cart is unstable so that the set velocity of the cart cannot be used to calibrate WTLDV. The calibration results show that the relative measurement error of WTLDV is less than 2.5% with expanded uncertainty of less than 0.11% in the velocity range of 1m/s to 2m/s. The proposed calibration system can be used in the calibration process for WTLDV, as well as other current profiling sensors, such as the impeller current meter, electromagnetic log and DVL.
In order to suppress occasional jamming signal and to improve the use of the local oscillator power, a differential detection method is proposed in LDV scheme employing two photodetectors, where the main detector receives the Doppler signal while the auxiliary one detects outside jamming signals. The effectiveness of the method is verified through jamming signal rejection experiment. Theoretical analysis and simulation indicate that the SNR of the system is sacrificed to eliminate jamming signal. The differential detection decreases the SNR of the system since the noise yielding in two differential currents are mutually independent and cannot be eliminated. The jamming signal rejection experiment shows that the differential detection is capable to reduce nearly 90% of the amplitude of the occasional jamming signal, thus improving the measurement accuracy of the Doppler frequency and further improving the velocity measurement precision.
There are the scale factor error of LDV (laser Doppler velocimeter) and the misalignment between the SINS (Strapdown inertial navigation system) and the vehicle in a SINS/LDV integrated navigation system. In this paper, the effects of these errors on the attitude, velocity and position of dead reckoning are derived, and a new online calibration method aiming to calibrate the scale factor of LDV and the misalignment between the SINS and the vehicle for the integrated system is put forward. This method, which is utilize the velocity and position of the Global Position System (GPS) as references, use the velocity error and position error of dead reckoning to estimate these errors. Through simulation and experiment, the validity and feasibility of the method are verified. The results show that the scale factor and the misalignment can be calibrated with satisfying accuracy, and the related research can provide technical support for high precision navigation of SINS/LDV integrated navigation systems.
Inertial navigation system has been the core component of both military and civil navigation systems. Dual-axis rotation modulation can completely eliminate the inertial elements constant errors of the three axes to improve the system accuracy. But the error caused by the misalignment angles and the scale factor error cannot be eliminated through dual-axis rotation modulation. And discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed the effect of calibration error during one modulated period and presented a new systematic self-calibration method for dual-axis rotation-modulating RLG-INS. Procedure for self-calibration of dual-axis rotation-modulating RLG-INS has been designed. The results of self-calibration simulation experiment proved that: this scheme can estimate all the errors in the calibration error model, the calibration precision of the inertial sensors scale factor error is less than 1ppm and the misalignment is less than 5″. These results have validated the systematic self-calibration method and proved its importance for accuracy improvement of dual -axis rotation inertial navigation system with mechanically dithered ring laser gyroscope.
As a highly reliable positioning and orientation equipment, the redundant inertial navigation system (INS) is widely used in aerospace and other fields. For INS, high-precision calibration is the basis of high-precision navigation. Different from the calibration error modeling method of traditional orthogonal system, the nonorthogonal redundant ring laser gyro INS is installed with multi-device obliquely, and with the complexity of the configuration, the difficulty of separating the calibration parameters is also increased. Therefore, it is very significant to find a high precision calibration scheme for the non-orthogonal redundant INS. In this paper, the high precision calibration of non-orthogonal redundant INS in laboratory is studied, and a new calibration model of redundant system is summarized. A regular tetrahedral configuration prototype consisting of four Ring Laser Gyro and four Quartz Accelerometer is designed, and the calibration error modeling method and calibration accuracy are verified.
Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. Discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.
As an indispensable equipment in inertial technology tests, the three-axis turntable is widely used in the calibration of various types inertial navigation systems (INS). In order to ensure the calibration accuracy of INS, we need to accurately measure the initial state of the turntable. However, the traditional measuring method needs a lot of exterior equipment (such as level instrument, north seeker, autocollimator, etc.), and the test processing is complex, low efficiency. Therefore, it is relatively difficult for the inertial measurement equipment manufacturers to realize the self-inspection of the turntable. Owing to the high precision attitude information provided by the laser gyro strapdown inertial navigation system (SINS) after fine alignment, we can use it as the attitude reference of initial state measurement of three-axis turntable. For the principle that the fixed rotation vector increment is not affected by measuring point, we use the laser gyro INS and the encoder of the turntable to provide the attitudes of turntable mounting plat. Through this way, the high accuracy measurement of perpendicularity error and initial attitude of the three-axis turntable has been achieved.
Taking the one-dimensional Laser Doppler Velocimeter (LDV) and a certain type of Laser Gyro Strapdown Inertial Navigation System (SINS) developed our staff room for object, the paper verifies that dynamic calibration technique can be achieved by SINS/LDV integrated system on the basis of the analysis of the software and hardware conditions. Extended Kalman filter states of SINS/LDV integrated system were chosen based on the error models of SINS and LDV. Using the difference of the output speed of the SINS and LDV as measurement, the error of bias and scale factor of the integrated navigation system are estimated effectively by setting up a reasonable calibration path. The effectiveness of the algorithm is further verified through the vehicular experiments. The results of experiments show that the dynamic calibration technique can be achieved through SINS/LDV integrated system and ensure the maneuverability of terrestrial inertial navigation system. The estimate of LDV scale factor is about 0.003%. The estimate error of accelerometer bias no more than 13μg. The estimate error of gyroscope drift no more than 1.7×10-3°/h. The yaw angle error is less than 0.19 ' within 20min.
The actual combat effectiveness of weapon equipment is restricted by the performance of Inertial Navigation System (INS), especially in high reliability required situations such as fighter, satellite and submarine. Through the use of skewed sensor geometries, redundant technique has been applied to reduce the cost and improve the reliability of the INS. In this paper, the structure configuration and the inertial sensor characteristics of Skewed Redundant Strapdown Inertial Navigation System (SRSINS) using dithered Ring Laser Gyroscope (RLG) are analyzed. For the dither coupling effects of the dither gyro, the system measurement errors can be amplified either the individual gyro dither frequency is near one another or the structure of the SRSINS is unreasonable. Based on the characteristics of RLG, the research on coupled vibration of dithered RLG in SRSINS is carried out. On the principle of optimal navigation performance, optimal reliability and optimal cost-effectiveness, the comprehensive evaluation scheme of the inertial sensor configuration of SRINS is given.
The basic composition and measuring principle of Laser Doppler Velocimeter (LDV) are discussed, and the superiority of LDV been the external velocity observation system of the strapdown inertial navigation system(SINS) is analyzed. For study of the RLG inertial navigation system and the LDV which is self-developed by our own department, the feasibility of SINS/LDV composite system is proved, and vehicle navigation tests have been conducted. Taking the DGPS as reference, the results show that the maximum positioning error of SINS/LDV composite system is 8 meters in one hour test while the maximum positioning error of pure SINS reaches 1130 meters. Results show that the SINS/LDV composite system can effectively inhibits the time accumulated navigation errors, and the high accuracy self-contained navigation can be realized.
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