Research on accuracy improvement of INS with continuous rotation

Designed on the dominating place to meet the very high positioning requirements of marine and submarine application, the INS rotation in this paper as an important technique is presented to remarkably improve the performance of widely used navigation system. Such INS equipped with rotation structure, the principle which applied the continuous rotation to INS is discussed in order to reduce the navigation errors. Based on this principle we derive the navigation error propagation expressions stimulated by gyroscope constant drifts under the condition of continuous rotation. Moreover, theoretical analyses suggest that INS rotation method can extend to modulate and restrain other error sources except for gyroscope drift. The effect of INS rotation method is confirmed in the simulation experiment. Simulation results indicate that, compared with the static state, the proposed method attenuates the navigation errors caused due to inertial sensor and greatly enhances the navigation accuracy.