Investigation of a Navigation-Grade RLG SIMU type iNAV-RQH

Description

IAPG / FESG No. 16. Munchen, 2004. ISSN 1437-8280. ISBN 3-934205-15-1.The work presents a characterization and some results from evaluation experiments made with our ring laser gyroscope navigation grade strapdown inertial measurement unit (SIMU) type iNAV-RQH of the class 1 nmi/h precision.Table of contents. Introduction. Strapdown-IMU characteristics. Inertial sensor technology and error models. Specific-force sensors (accelerometers). Ring laser gyroscopes. Dithered ring laser gyroscope. Inertial sensor error models. Accelerometer errors. Gyroscope errors. Strapdown navigation mechanization and post processing results. Strapdown mechanization. Post-processing navigation solutions. Calibration and parameter identification. Kingspad-software input/output parameters. Indoor navigation experiment. Land-navigation experiments (car-drive). Conclusions and recommendations for further investigations. References. Appendix A: Insight in the ISA of the SIMU. Appendix B: Supplementary investigations about the static sensitivity of the SIMU. Appendix C: Investigation of an elastic damping suspension for the SIMU. Appendix D: Some results from the direct use of the SIMU data-set for geodetic parameter determinations.