A Comparison of Single and Multi Axis Attitude Estimation in Strapdown Inertial Navigation Systems

Abstract This paper describes an analysis of performance levels attained using a variety of inertial sensor technologies including MEM's, FOG and RLG. Common problems and compensation methods for these are discussed. Models will be presented with a comparison of one and three axis, attitude measurement on a range of sensor technologies. A graphical analysis of mixing various sensor technologies to produce high accuracy navigation systems at a reduced cost is demonstrated. Measured data is presented which was recorded to allow validation of sensor models. The modelling of sensor technologies also demonstrated that it is gyro temperature bias stability, and not gyro random walk, that has the most impact on positional accuracy of the navigation system. These parameters are useful to consider when selecting angular rate sensors for high performance strapdown navigation systems since the selection criteria is contrary to that used for line of sight stabilisation systems.