Investigation of a Navigation-Grade RLG SIMU type iNAV-RQH

IAPG / FESG No.16. Munchen, 2004.ISSN 1437-8280.ISBN 3-934205-15-1.The work presents a characterization and some results from evaluation experiments made with our ring laser gyroscope navigation grade strapdown inertial measurement unit (SIMU) type iNAV-RQH of the class 1 nmi/h precision.Table of contents.Introduction.Strapdown-IMU characteristics.Inertial sensor technology and error models.Specific-force sensors (accelerometers).Ring laser gyroscopes.Dithered ring laser gyroscope.Inertial sensor error models.Accelerometer errors.Gyroscope errors.Strapdown navigation mechanization and post processing results.Strapdown mechanization.Post-processing navigation solutions.Calibration and parameter identification.Kingspad-software input/output parameters.Indoor navigation experiment.Land-navigation experiments (car-drive).Conclusions and recommendations for further investigations.References.Appendix A: Insight in the ISA of the SIMU.Appendix B: Supplementary investigations about the static sensitivity of the SIMU.Appendix C: Investigation of an elastic damping suspension for the SIMU.Appendix D: Some results from the direct use of the SIMU data-set for geodetic parameter determinations.