Errors autocompensation principle analysis and experiments verification for rotational inertial navigation systems

To analyze the autocompensation principle of rotational inertial navigation systems (INS), platform misalignment and its statistic characteristics in strapdown INS and rotational INS caused by gyro drifts, which can be divided into the random constant components, time-related components and random walk components, are discussed and compared. The results show that the rotational INS can eliminate errors caused by the constant components of the drifts, and can restrain that caused by the time-related components, but it has no effects on the random walk components. Rotational INS configured with the gyros of 0.1(°)/h drifts and accelerometers of 0.2 mg biases is used to do the verification experiments and a 0.2 n mile/h navigation accuracy is achieved.