Gyroscope Free Strapdown Inertial Navigation System Using rotation modulation

In order to improve precision of Gyroscope FreeStrapdown Inertial Navigation System (GFINS), the idea of rotation modulation is adopted. And a new scheme of GFINS using 10 accelerometers is proposed, which is convenient for modulation all of the accelerometers. Through rotating around three orthogonal axes respectively, biases of all 10 accelerometers in the GFINS can be modulated by sinusoid and cosine functions. Procedures of both navigation calculation and rotation modulation in the 10-accelerometer based GFINS are derived. The scheme of GFINS and the rotation modulation method are simulated and verified. Simulation results show that precision of GFINS has been improved by more than 50% after rotation modulation.