Use of Maneuvering to Improve the Accuracy of Ship Autonomous SINS
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of Maneuvering to Improve the Accuracy of Ship Autonomous SINS G. I. Emel’yantseva, b, *, A. P. Stepanova, b, and B. A. Blazhnova aConcern
CSRI Elektropribor, JSC, St. Petersburg, 197046 Russia ITMO University, St. Petersburg, 197101 Russia *e-mail: [email protected]
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Received January 14, 2020; revised June 23, 2020; accepted June 23, 2020
Abstract—The paper studies the problem of reducing the errors of heading and pitch/roll angles for a strapdown inertial navigation system (SINS) based on fiber-optic gyroscopes (FOG) during a vessel maneuvering. The solution of the problem is analyzed mainly for autonomous mode of the system operation using the water speed log data. A specific feature of the studied solution is that the gyro drifts and accelerometer biases are estimated only during the vessel maneuvering. In this case, an attribute is formed for the vessel’s maneuver start. The results of simulation, test-bench and field tests of the SINS on FOGs of navigation accuracy grade during the vessel maneuvering are presented, with the data of the system’s measurement unit, GNSS-receiver and log having been processed in MATLAB (Simulink) software, taking into account the simulation of ocean currents and vessel drift. Keywords: strapdown inertial navigation system, fiber-optic gyroscope, GNSS-receiver, water speed log, vessel maneuvering DOI: 10.1134/S2075108720030025
INTRODUCTION At present, the SINS based on FOG and solid-state wave gyroscopes (SWG) are already widely used on aerial, marine and ground vehicles. The examples of such systems are FOG-based SINS of Marins series manufactured by the French company IXblue [1]; the most accurate of them is Marins M11 with the maximum error of coordinates generated in autonomous mode being at the level of 3 nm/15 days [2]. Another example is SWG-based SINS of Argonyx series by Safran (France); its maximum error of coordinates is about 3 nm/3 days [3]. Also, there are a lot of FOG-based SINS of lower accuracy grades, such as those presented in [4, 5] and, for instance, in the works [6, 7]. The accuracy of modern SINS is improved both by reducing the level of instability of gyro drifts and accelerometer biases, and by estimating their low-frequency components during operation. However, even when a SINS works in the correction mode, the use of the differential measurements of velocity and position formed by means of receiving equipment (RE) of global navigation satellite systems (GNSS) does not provide efficient precision of all most important systematic components of errors of gyroscopes and accelerometers. The reason for this lies in the fact that they are not fully observable when these measurements are
used on a ship while moored or moving at a constant speed and heading [8, 9]. To ensure full observability of the SINS gyro drifts and accelerometer biases with the aid of GNSS RE, there is a marine practice to use modulation rotation of the system’s measurement unit (MU) [9]. In the absence of GNSS data, the modulation rotation (single- or two-axis) provides so-called
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