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Rate Gyro INS Detailed Report

This report discusses the design and analysis of a rate gyro-based Inertial Navigation System (INS), focusing on mathematical modeling, sensitivity improvement techniques, and system design. Key enhancements include vibration isolation, redundant gyros, rotation modulation, temperature compensation, and adaptive filtering to improve accuracy and stability. The findings indicate that these strategies significantly enhance the performance of navigation systems, especially in environments where satellite navigation is unavailable.

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13 views3 pages

Rate Gyro INS Detailed Report

This report discusses the design and analysis of a rate gyro-based Inertial Navigation System (INS), focusing on mathematical modeling, sensitivity improvement techniques, and system design. Key enhancements include vibration isolation, redundant gyros, rotation modulation, temperature compensation, and adaptive filtering to improve accuracy and stability. The findings indicate that these strategies significantly enhance the performance of navigation systems, especially in environments where satellite navigation is unavailable.

Uploaded by

asad132926
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Design and Analysis of a Rate Gyro-

Based Inertial Navigation System (INS)


1. Introduction
Inertial Navigation Systems (INS) are critical in applications where satellite
navigation is unavailable. A core component of INS is the rate gyroscope, which
measures angular velocity. This report presents the mathematical modeling, design
enhancement strategies, and performance improvements for a rate gyro-based INS.

2. Mathematical Modeling
We begin with the following assumptions and parameters:

- J: Moment of inertia of the gyro rotor [kg·m²]

- ω: Constant angular velocity of the gyro rotor [rad/s]

- θ: Gimbal deflection angle [rad]

- Ω: Input angular rate of the base (vehicle) [rad/s]

- k: Torsional spring constant [N·m/rad]

- b: Damping coefficient [N·m·s/rad]

Equation of motion:

Total torque, T = J·ω·Ω

Restoring and damping torques: T = k·θ + b·(dθ/dt)

Equating and solving for Ω:

J·ω·Ω = k·θ + b·(dθ/dt)

⇒ Ω = (k/(J·ω))·θ + (b/(J·ω))·(dθ/dt)

This shows that the measured angular rate depends on the deflection angle and its
rate of change.
3. Methods for Improving Gyro Sensitivity
Several techniques improve the sensitivity and stability of rate gyros:

a) Vibration Isolation: Mechanical dampers reduce vibration-induced noise.

b) Redundant Gyros: Averaging multiple outputs reduces stochastic noise (√N


factor).

c) Rotation Modulation: Removes bias by rotating the sensor periodically.

d) Temperature Compensation: Corrects drift due to thermal expansion and


viscosity changes.

e) Adaptive Filtering: Kalman or Extended Kalman Filters help isolate signal from
noise.

4. INS System Design


The complete INS consists of:

- Rate gyroscopes for angular velocity

- Accelerometers for linear acceleration

- A microcontroller or DSP for signal processing

- A software algorithm to integrate sensor data into position and orientation


estimates

Design Considerations:

- Sensor placement to minimize cross-axis sensitivity

- Thermal insulation and calibration routines

- Signal pre-processing and adaptive drift correction

5. Sensitivity Enhancement Effects


Improvements in sensitivity and resolution provide the following advantages:

- Enhanced angular resolution, enabling precise orientation tracking

- Reduced drift and noise accumulation

- Better integration with external correction sources like GPS or visual odometry
6. Comparative Analysis of Sensitivity Techniques
Technique Principle Mathematical Remarks
Advantage

Vibration Isolation Reduces external Lower dθ/dt noise Essential for mobile
disturbance platforms

Averaging Gyros Statistical reduction Std. deviation ∝ Improves


1/√N consistency

Rotation Modulation Bias modulation Bias frequency Reduces systematic


separation drift

Temp Thermal model Δbias = f(T) Reduces thermal


Compensation fitting drift

Advanced Model-based Dynamic bias Needs high


Calibration correction modeling computation

7. Conclusion
This report outlines the mathematical framework, design approach, and
enhancement strategies for a high-performance rate gyro-based INS. With
sensitivity improvement techniques, the accuracy, stability, and reliability of
navigation systems are significantly improved.

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