The Influence of Proportions of Different Rotation Modes on Navigation in a Dual-Axis Rotation Scheme

Dual-axis rotation modulation schemes, which can modulate three axial gyroscope drifts and accelerometer biases to zero mean, are adopted by the rotational inertial navigation systems (RINS) for long-endurance navigations. Some dual-axis rotation schemes include two rotation modes, continuous rotation and transposition. Different time proportions of these two rotation modes lead to different navigation results. On the basis of the RINS error propagation equations, the paper analyzes the possible influence of the duration ratio of continuous rotation to transposition on the residual drifts for one dual-axis rotation scheme. Afterwards, on the conditions of the rotation scheme having a fixed rotation modulation period or a fixed rotation angular velocity, several simulations with different proportions of two rotation modes are carried out respectively to verify the correctness of the previous analysis. Finally, suggestions for designing rotation schemes are put forward to suppress the residual drift along the earth's polar axis or Schuler oscillations.