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AI Overview

A dual-axis error model, primarily used in

Rotational Inertial Navigation Systems (RINS), modulates and compensates for inertial sensor errors (bias, scale factor, and misalignment) by rotating the IMU around two orthogonal axes . By rotating the IMU into symmetric positions (e.g., 8, 16, or 32 positions), constant drift is cancelled, while nonorthogonal angles and installation errors are identified and calibrated.

This video explains how nonorthogonal angles in a dual-axis rotational system can affect calibration and navigation:

53s

Institute of Navigation

YouTube • Oct 1, 2025

Key Aspects of Dual-Axis Error Models

Error Modulation: The rotation schemes (e.g., continuous or rotation-stop) rotate the IMU to convert constant sensor biases into periodic, manageable signals, enhancing navigation accuracy.
Nonorthogonal Angle Modeling: Modern models include nonorthogonal angles between rotating axes, which, if not calibrated, degrade accuracy. These models define the transformation matrix between the gimbal, IMU, and navigation frames.
Calibration Methods: Techniques like the 8-position or 12-position rotation methods are used to make installation errors and nonorthogonal angles observable, reducing navigation errors by as much as 90%.
System Components: The model generally covers IMU zero bias, scale factor, cross-coupling errors, and nonorthogonal installation errors between the gyroscope and accelerometer axes.
Redundant IMU (RIMU) Considerations: For high-precision systems, the model accounts for turntable errors during rotation to prevent error accumulation, often using a 180° rotation-stop scheme to compensate for

$g$

-sensitive misalignment.

Applications

Inertial Navigation Systems (INS): Improving long-term navigation accuracy in RINS.
Precision Manufacturing: Used in5-axis machine tools to reduce nonlinear errors and improve surface finish.
Data Visualization: Dual-axis charts compare two measures with different scales or units.

A High-Accuracy Method for Calibration of Nonorthogonal Angles in ...
May 12, 2021 — Abstract: The dual-axis rotational inertial navigation system (RINS) can compensate the errors of inertial sensors by rotating the...

IEEE Xplore
An error modulation scheme for a dual-axis rotational ...

IOPscience
A System-Level Self-Calibration Method for Installation Errors ... - PMC
Thus, different estimation algorithms must be adopted in turn to obtain all errors. The major breakthrough is that all installatio...

National Institutes of Health (NIH) | (.gov)

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A Self-Calibration Method for Dual-axis Rotational Inertial ...

The Institute of Navigation

https://navi.ion.org › content › navi

The Institute of Navigation

https://navi.ion.org › content › navi

by Z Liu 2025 — In this paper, we address the problem of non-orthogonal errors in dual-axis rotational INS . Conventional error models define the IMU coordinate system based on ... Read more

Error Analysis and Simulation of the Dual-Axis Rotation- ...

IEEE

https://ieeexplore.ieee.org › document

IEEE

https://ieeexplore.ieee.org › document

by G Chang 2010 Cited by 32 — The error model of the dual-axis rotation-dwell inertial navigation system is designed in digital computer , and the theoretical conclusion is validated. Read more

A novel dual-chord error model to synchronously reduce ...

ScienceDirect.com

https://www.sciencedirect.com › science › article › pii

ScienceDirect.com

https://www.sciencedirect.com › science › article › pii

by X Liu 2025 — A one-step trajectory planning method synchronously optimizes both errors via dual -chord error model . Simulations demonstrate enhanced error ... Read more

A Dual-Axis Rotation Scheme for Redundant ... - PMC - NIH

National Institutes of Health (NIH) | (.gov)

https://pmc.ncbi.nlm.nih.gov › articles › PMC9966896

National Institutes of Health (NIH) | (.gov)

https://pmc.ncbi.nlm.nih.gov › articles › PMC9966896

by T Zhu 2023 Cited by 7 — Because of the multi-sensor configuration, the RIMU has a more complex error model compared with the traditional orthogonal inertial measurement unit (IMU). Read more

An error modulation scheme for a dual-axis rotational ...

IOPscience

https://iopscience.iop.org › article

IOPscience

https://iopscience.iop.org › article

by H Zhang 2025 Cited by 1 — This paper presents a novel 44-position dual - axis rotational modulation scheme that has the potential to enhance the reliability and reduces the weight of ... Read more

An Online Simultaneous Measurement of the Dual-Axis ...

DOAJ

https://doaj.org › article

DOAJ

https://doaj.org › article

In this study, an online dual - axis measurement system with repeatability (3σ) of 2.46 μm is developed to simultaneously measure X-axis and Y-axis straightness ... Read more

A Fast Self-Calibration Method for Dual-Axis Rotational ...

MDPI - Publisher of Open Access Journals

https://www.mdpi.com › ...

MDPI - Publisher of Open Access Journals

https://www.mdpi.com › ...

by X Sun 2024 Cited by 5 — This paper focuses on dual - axis rotational inertial navigation systems and presents a system-level self-calibration method based on invariant errors. Read more

Comprehensive Error Compensation for Dual-Axis ...

ResearchGate

https://www.researchgate.net › ... › Astronomy › Rotation

ResearchGate

https://www.researchgate.net › ... › Astronomy › Rotation

Aug 7, 2025 — The error compensation demerits of two common rotation schemes are discussed. In these two schemes, the attitude errors caused by installation ... Read more

A System-Level Self-Calibration Method for Installation Errors ...

National Institutes of Health (NIH) | (.gov)

https://pmc.ncbi.nlm.nih.gov › articles › PMC6767846

National Institutes of Health (NIH) | (.gov)

https://pmc.ncbi.nlm.nih.gov › articles › PMC6767846

by S Bai 2019 Cited by 23 — In this paper, a system-level self-calibration method for installation errors of a dual - axis RINS is proposed. Based on the Kalman filter, the measurement model ... Read more