The Use of Informational Redundancy in INS with ESG

Valery Z. Gusinsky, Vladimir M. Lesyuchevsky, Yury A. Litmanovich, Vladimir G. Peshekhonov, George T. Schmidt

Abstract:	A problem of using the redundant information in gimbaled inertial navigation systems (INS) based on two electrostatically suspended gyros (ESG) to calibrate the gyro drift models’ parameters is investigated. Two basic versions of an inertial measurement unit (IMU) construction are considered: with the ESG installed in individual gimbals or on a common gyrostabilized platform, It is shown that in both cases an additional autonomous measurement can be generated as a difference of cosines of the angle between the gyro momentums, expressed via body fixed and inertial components. On the basis of the derived measurement error models the observability of the gyro drift parameters is investigated. The increase in efficiency of the INS calibration at the INS initially and in operation with the use of the additional measurement (jointly with the conventional positional and velocity measurements) is justified analytically and by simulation.
Published in:	Proceedings of the 52nd Annual Meeting of The Institute of Navigation (1996) June 19 - 21, 1996 Royal Sonesta Hotel Cambridge, MA
Pages:	417 - 425
Cite this article:	Gusinsky, Valery Z., Lesyuchevsky, Vladimir M., Litmanovich, Yury A., Peshekhonov, Vladimir G., Schmidt, George T., "The Use of Informational Redundancy in INS with ESG," Proceedings of the 52nd Annual Meeting of The Institute of Navigation (1996), Cambridge, MA, June 1996, pp. 417-425.
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