Novel rotation scheme for dual-axis rotational inertial navigation system based on body diagonal rotation of inertial measurement unit

Abstract Traditional rotational inertial navigation systems are based on rotation around one or two sensitive axes of sensors. However, as the and sensors lie along same direction, it is difficult to modulate relative error sensor in axial direction. This paper proposes a dual-axis scheme diagonal measurement unit (IMU) body. The selects body three orthogonal IMU horizontal axis, sets vertical axis this axis. As oriented different directions, at any moment rotation, errors directions can all be modulated, especially installation error. First, mathematical model established. On basis, coordinate transformation relationship equations derived, propagation characteristics obtained. Finally, comprehensive system tested. Under conditions, latitude reduced from 0.1089 nautical miles/72 h traditional 0.0368 h, longitude 0.3587 0.1332 h. These results verify effectiveness proposed scheme. method rotating also exhibits certain advantages when applied other schemes.