The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological ...The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological noise,there is still a significant gap between its actual precision and theoretical precision.This study identifies the key factor limiting the precision of the SERF gyroscope as coupling noise.By optimizing the detection loop structure,a distinction between the dual-axis signals'response to optical and magnetic fields was achieved-where the optical errors responded similarly,while the response to magnetic noise was opposite.Based on the differences in the optical-magnetic response of the dual-axis signals,empirical mode decomposition was used to decompose the dual-axis gyroscope signals into multiple intrinsic mode functions,and Allan deviation analysis was applied to analyze the noise characteristics of the intrinsic mode functions over various periods.This study successfully reveals that optical errors caused by thermal-optical coupling and long-period magnetic noise induced by thermal-magnetic coupling are the dominant factors limiting the long-term stability of the SERF gyroscope.Based on these analyses,the study concludes that to achieve strategic-grade precision for the SERF gyroscope,it is essential to effectively address the noise issues caused by multi-physical field couplings.展开更多
As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely...As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.展开更多
Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has seve...Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has severely restricted the applications of high-precision FOGs.The conventional methods for suppressing vibration-induced errors mostly concentrate on reinforcing the mechanical structure and optical path as well as the compensation under some specific operation parameters,which have very limited effects for high-precision FOGs maintaining performances under vibration.In this work,a technique of suppressing the vibration-induced bias deviation through removing the part related to the varying gain from the rotation-rate output is put forward.Particularly,the loop gain is extracted out by adding a gain-monitoring wave.By demodulating the loop gain and the rotation rate simultaneously under distinct frequencies and investigating their quantitative relationship,the vibrationinduced bias error is compensated without limiting the operating parameters or environments,like the applied modulation depth.The experimental results show that the proposed method has achieved the reduction of bias error from about 0.149°/h to0.014°/h during the random vibration with frequencies from20 Hz to 2000 Hz.This technique provides a feasible route for enhancing the performances of high-precision FOGs heading towards high environmental adaptability.展开更多
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
This paper gives a succinct review of dual-spinprojectile stability and some technologies relating to them.It describes how the traditional stability factors from linear projectile theory are modified to better descri...This paper gives a succinct review of dual-spinprojectile stability and some technologies relating to them.It describes how the traditional stability factors from linear projectile theory are modified to better describe a controlled dual-spin projectile.Finally,it reviews works which have investigated how different aspects of a controlled dual-spin design can affect flight stability,primarily airframe structure and canard properties.A conclusion is given,highlighting important guidelines from the enclosed discussions.展开更多
Solid-state wave gyroscope is one kind of high-performance vibrating gyroscopes. The present work develops a new type of solid-state wave gyroscope—a ring vibrating gyroscope driven by piezo-electrodes located on the...Solid-state wave gyroscope is one kind of high-performance vibrating gyroscopes. The present work develops a new type of solid-state wave gyroscope—a ring vibrating gyroscope driven by piezo-electrodes located on the sidewall of the structure. It has advantages of large vibrating amplitude, high energy conversion efficiency and compact structure. The working principle of the piezoelectric ring vibrating gyroscope is based on the inertia effect of the standing wave in the axisymmetric resonator caused by Coriolis force. The finite element method(FEM) analysis has been implemented to characterize the ring type resonator. The prototypal gyroscope was manufactured and has been trimmed by mechanical way. The harmonic response of the ring vibrating gyroscope has been tested. The resonating frequency of the ring type resonator is 3715.6 Hz and the frequency split of the two working modes before trimming was about 5 Hz and was reduced to sub-0.01 Hz after trimming procedure. The Q-factor of the ring type resonator was 2504. Then, the turntable experiment was implemented. The measured scale factor k is 9.24 m V/[(°)·s] and the full scale range of the gyroscope is larger than ±300(°)/s.展开更多
Stochastic noises of fiber optic gyroscope （FOG） mainly contain white noise and fractal noise whose long-term dependent component causes FOG a rather slow drift. In order to eliminate this component, a two-step filt...Stochastic noises of fiber optic gyroscope （FOG） mainly contain white noise and fractal noise whose long-term dependent component causes FOG a rather slow drift. In order to eliminate this component, a two-step filtering methodology is proposed. Firstly, fractional differencing （FD） method is introduced to trans-form fractal noise into fractional white noise based on the estima-tion of Hurst exponent for long-term dependent fractal process, which together with the existing white noise make up of a gener-alized white noise. Further, an improved denoising algorithm of wavelet maxima is developed to suppress the generalized white noise. Experimental results show that the basic noise terms of FOG greatly decrease, and especially the slow drift is restrained effectively. The proposed methodology provides a promising ap-proach for filtering long-term dependent fractal noise.展开更多
Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.Howe...Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.展开更多
Fiber optical gyroscope(FOG)is a highly reliable navigation element,and the degradation trajectories of its two accuracy indexes are monotonic and non-monotonic respectively.In this paper,a flexible accelerated degrad...Fiber optical gyroscope(FOG)is a highly reliable navigation element,and the degradation trajectories of its two accuracy indexes are monotonic and non-monotonic respectively.In this paper,a flexible accelerated degradation testing(ADT)model is used for analyzing the bivariate dependent degradation process of FOG.The time-varying copulas are employed to consider the dynamic dependency structure between two marginal degradation processes as the Wiener process and the inverse Gaussian process.The statistical inference is implemented by utilizing an inference function for the margins(IFM)approach.It is demonstrated that the proposed method is powerful in modeling the joint distribution with various margins.展开更多
The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based...The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based approach for the error parameters online identification for the WAMG.The significance is that it can separate physical and error fingerprints to enable online calibration.The nonlinear WAMG dynamics are discretized to meet the requirement of numerical precision and computation efficiency.The optimized estimation methods are then constructed and compared to track asymmetry error parameters continuously.In the validation part,its results firstly prove that the proposed scheme can accurately identify constant asymmetry parameters with an overall tracking error of less than 1 ppm and the extreme numerical convergence can reach 10^(-12)ppm.Under the dynamic asymmetry variation condition,the root mean square errors(RMSE)indicate that the tracking accuracy can reach the level of10^(-3),which shows the robustness of the proposed scheme.In summary,the proposed method can effectively estimate the WAMG asymmetry errors online with satisfied performance and practical values.展开更多
Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls ...Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.展开更多
This paper describes a novel approach for identifying the Z-axis drift of the ring laser gyroscope （RLG） based on ge-netic algorithm （GA） and support vector regression （SVR） in the single-axis rotation inertial ...This paper describes a novel approach for identifying the Z-axis drift of the ring laser gyroscope （RLG） based on ge-netic algorithm （GA） and support vector regression （SVR） in the single-axis rotation inertial navigation system （SRINS）. GA is used for selecting the optimal parameters of SVR. The latitude error and the temperature variation during the identification stage are adopted as inputs of GA-SVR. The navigation results show that the proposed GA-SVR model can reach an identification accuracy of 0.000 2 （？）/h for the Z-axis drift of RLG. Compared with the ra-dial basis function-neural network （RBF-NN） model, the GA-SVR model is more effective in identification of the Z-axis drift of RLG.展开更多
基金supported by Hefei National Laboratory,Innovation Program for Quantum Science and Technology(2021ZD0300400/2021ZD0300402)the Beijing Natural Science Foundation(3252013)the China Postdoctoral Science Foundation(2024T171116).
文摘The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological noise,there is still a significant gap between its actual precision and theoretical precision.This study identifies the key factor limiting the precision of the SERF gyroscope as coupling noise.By optimizing the detection loop structure,a distinction between the dual-axis signals'response to optical and magnetic fields was achieved-where the optical errors responded similarly,while the response to magnetic noise was opposite.Based on the differences in the optical-magnetic response of the dual-axis signals,empirical mode decomposition was used to decompose the dual-axis gyroscope signals into multiple intrinsic mode functions,and Allan deviation analysis was applied to analyze the noise characteristics of the intrinsic mode functions over various periods.This study successfully reveals that optical errors caused by thermal-optical coupling and long-period magnetic noise induced by thermal-magnetic coupling are the dominant factors limiting the long-term stability of the SERF gyroscope.Based on these analyses,the study concludes that to achieve strategic-grade precision for the SERF gyroscope,it is essential to effectively address the noise issues caused by multi-physical field couplings.
基金supported by the National Natural Science Foundation of China(62375013).
文摘As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.
基金Fundamental Research Funds for the Central Universities(YWF-23-L-1225)National Natural Science Foundation of China(62201025)Chinese Aeronautical Establishment(2022Z037051001)。
文摘Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has severely restricted the applications of high-precision FOGs.The conventional methods for suppressing vibration-induced errors mostly concentrate on reinforcing the mechanical structure and optical path as well as the compensation under some specific operation parameters,which have very limited effects for high-precision FOGs maintaining performances under vibration.In this work,a technique of suppressing the vibration-induced bias deviation through removing the part related to the varying gain from the rotation-rate output is put forward.Particularly,the loop gain is extracted out by adding a gain-monitoring wave.By demodulating the loop gain and the rotation rate simultaneously under distinct frequencies and investigating their quantitative relationship,the vibrationinduced bias error is compensated without limiting the operating parameters or environments,like the applied modulation depth.The experimental results show that the proposed method has achieved the reduction of bias error from about 0.149°/h to0.014°/h during the random vibration with frequencies from20 Hz to 2000 Hz.This technique provides a feasible route for enhancing the performances of high-precision FOGs heading towards high environmental adaptability.
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金sponsored by EPSRC ICASE Grant reference 1700064BAE Systems。
文摘This paper gives a succinct review of dual-spinprojectile stability and some technologies relating to them.It describes how the traditional stability factors from linear projectile theory are modified to better describe a controlled dual-spin projectile.Finally,it reviews works which have investigated how different aspects of a controlled dual-spin design can affect flight stability,primarily airframe structure and canard properties.A conclusion is given,highlighting important guidelines from the enclosed discussions.
基金Projects(51335011,51275522)supported by the National Natural Science Foundation of ChinaProject(HPCM-2013-08)supported by Key Lab Open Foundation of State Key Laboratory of High Performance(Complex Manufacturing),Central South University,China
文摘Solid-state wave gyroscope is one kind of high-performance vibrating gyroscopes. The present work develops a new type of solid-state wave gyroscope—a ring vibrating gyroscope driven by piezo-electrodes located on the sidewall of the structure. It has advantages of large vibrating amplitude, high energy conversion efficiency and compact structure. The working principle of the piezoelectric ring vibrating gyroscope is based on the inertia effect of the standing wave in the axisymmetric resonator caused by Coriolis force. The finite element method(FEM) analysis has been implemented to characterize the ring type resonator. The prototypal gyroscope was manufactured and has been trimmed by mechanical way. The harmonic response of the ring vibrating gyroscope has been tested. The resonating frequency of the ring type resonator is 3715.6 Hz and the frequency split of the two working modes before trimming was about 5 Hz and was reduced to sub-0.01 Hz after trimming procedure. The Q-factor of the ring type resonator was 2504. Then, the turntable experiment was implemented. The measured scale factor k is 9.24 m V/[(°)·s] and the full scale range of the gyroscope is larger than ±300(°)/s.
基金supported by Aviation Science Foundation(20070851011).
文摘Stochastic noises of fiber optic gyroscope （FOG） mainly contain white noise and fractal noise whose long-term dependent component causes FOG a rather slow drift. In order to eliminate this component, a two-step filtering methodology is proposed. Firstly, fractional differencing （FD） method is introduced to trans-form fractal noise into fractional white noise based on the estima-tion of Hurst exponent for long-term dependent fractal process, which together with the existing white noise make up of a gener-alized white noise. Further, an improved denoising algorithm of wavelet maxima is developed to suppress the generalized white noise. Experimental results show that the basic noise terms of FOG greatly decrease, and especially the slow drift is restrained effectively. The proposed methodology provides a promising ap-proach for filtering long-term dependent fractal noise.
基金Project(61174002)supported by the National Natural Science Foundation of ChinaProject(200897)supported by the Foundation of National Excellent Doctoral Dissertation of PR China+1 种基金Project(NCET-10-0900)supported by the Program for New Century ExcellentTalents in University,ChinaProject(131061)supported by the Fok Ying Tung Education Foundation,China
文摘Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.
基金supported by the National Key R&D Program of China(2018YFB0104504).
文摘Fiber optical gyroscope(FOG)is a highly reliable navigation element,and the degradation trajectories of its two accuracy indexes are monotonic and non-monotonic respectively.In this paper,a flexible accelerated degradation testing(ADT)model is used for analyzing the bivariate dependent degradation process of FOG.The time-varying copulas are employed to consider the dynamic dependency structure between two marginal degradation processes as the Wiener process and the inverse Gaussian process.The statistical inference is implemented by utilizing an inference function for the margins(IFM)approach.It is demonstrated that the proposed method is powerful in modeling the joint distribution with various margins.
基金funded by the National Natural Science Foundation under grant No.62171420Natural Science Foundation of Shandong Province under grant No.ZR201910230031。
文摘The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based approach for the error parameters online identification for the WAMG.The significance is that it can separate physical and error fingerprints to enable online calibration.The nonlinear WAMG dynamics are discretized to meet the requirement of numerical precision and computation efficiency.The optimized estimation methods are then constructed and compared to track asymmetry error parameters continuously.In the validation part,its results firstly prove that the proposed scheme can accurately identify constant asymmetry parameters with an overall tracking error of less than 1 ppm and the extreme numerical convergence can reach 10^(-12)ppm.Under the dynamic asymmetry variation condition,the root mean square errors(RMSE)indicate that the tracking accuracy can reach the level of10^(-3),which shows the robustness of the proposed scheme.In summary,the proposed method can effectively estimate the WAMG asymmetry errors online with satisfied performance and practical values.
基金supported by the National Natural Science Foundation of China (61973153)。
文摘Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.
文摘This paper describes a novel approach for identifying the Z-axis drift of the ring laser gyroscope （RLG） based on ge-netic algorithm （GA） and support vector regression （SVR） in the single-axis rotation inertial navigation system （SRINS）. GA is used for selecting the optimal parameters of SVR. The latitude error and the temperature variation during the identification stage are adopted as inputs of GA-SVR. The navigation results show that the proposed GA-SVR model can reach an identification accuracy of 0.000 2 （？）/h for the Z-axis drift of RLG. Compared with the ra-dial basis function-neural network （RBF-NN） model, the GA-SVR model is more effective in identification of the Z-axis drift of RLG.
