Precision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy

Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrence makes the sensor reliability is decreased. Rotation of Inertial Measurement Unit(RIMU) and use of redundant IMUs despite single unit is an approach for precision and reliability incensement. In this paper three units IMU is placed in rotational table. The mean of three units IMU is considered as virtual IMU, then INS mechanization is solved after rotation compensation. Experimental results show that the position estimation error without rotation is 10 times of estimation error in rotary case. Attitude estimation is stable in rotatory case despite instability in conventional case.