{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:48:39Z","timestamp":1740149319469,"version":"3.37.3"},"reference-count":36,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2018,2,24]],"date-time":"2018-02-24T00:00:00Z","timestamp":1519430400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&D Program of China","award":["2016YFB0501600"]},{"name":"National Equipment Pre-research Foundation","award":["6140517020101"]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61227902","61673041","61374210"],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"According to the application characteristics of the K-Rb-21Ne comagnetometer, a space-stable navigation mechanization is designed and the requirements of the comagnetometer prototype are presented. By analysing the error propagation rule of the space-stable Inertial Navigation System (INS), the three biases, the scale factor of the z-axis, and the misalignment of the x- and y-axis non-orthogonal with the z-axis, are confirmed to be the main error source. A numerical simulation of the mathematical model for each single error verified the theoretical analysis result of the system\u2019s error propagation rule. Thus, numerical simulation based on the semi-physical data result proves the feasibility of the navigation scheme proposed in this paper.<\/jats:p>","DOI":"10.3390\/s18020670","type":"journal-article","created":{"date-parts":[[2018,2,27]],"date-time":"2018-02-27T08:36:12Z","timestamp":1519720572000},"page":"670","source":"Crossref","is-referenced-by-count":11,"title":["Error Analysis of the K-Rb-21Ne Comagnetometer Space-Stable Inertial Navigation System"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9956-4740","authenticated-orcid":false,"given":"Qingzhong","family":"Cai","sequence":"first","affiliation":[{"name":"School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"}]},{"given":"Gongliu","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"}]},{"given":"Wei","family":"Quan","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"}]},{"given":"Ningfang","family":"Song","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8895-4188","authenticated-orcid":false,"given":"Yongqiang","family":"Tu","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"}]},{"given":"Yiliang","family":"Liu","sequence":"additional","affiliation":[{"name":"National Remote Sensing Center of China, Beijing 100036, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,2,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"6331","DOI":"10.3390\/s120506331","article-title":"Advances in atomic gyroscopes: A view from inertial navigation applications","volume":"12","author":"Fang","year":"2012","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1109\/MCS.2007.910206","article-title":"Strategic inertial navigation systems-High-accuracy inertially stabilized platforms for hostile environments","volume":"28","author":"Wang","year":"2008","journal-title":"IEEE Control Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"2886","DOI":"10.1016\/j.optcom.2011.02.053","article-title":"Analysis of the electrons-nuclei coupled atomic gyroscope. Optics Communications","volume":"284","author":"Dong","year":"2011","journal-title":"Opt. Commun."},{"key":"ref_4","first-page":"387","article-title":"Long-term stability of an area-reversible atom-interferometer sagnac gyroscope","volume":"97","author":"Durfee","year":"2005","journal-title":"Phys. Rev. Lett."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"154","DOI":"10.1103\/PhysRevA.74.023615","article-title":"Atom interferometer as a selective sensor of rotation or gravity","volume":"74","author":"Dubetsky","year":"2006","journal-title":"Phys. Rev. A"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"2385","DOI":"10.1088\/0264-9381\/17\/12\/311","article-title":"Rotation sensing with a dual atom-interferometer Sagnac gyroscope","volume":"17","author":"Gustavson","year":"2000","journal-title":"Class. Quantum Gravity"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"183003","DOI":"10.1103\/PhysRevLett.116.183003","article-title":"Continuous cold-atom inertial sensor with 1 nrad\/sec rotation stability","volume":"116","author":"Dutta","year":"2016","journal-title":"Phys. Rev. Lett."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1265","DOI":"10.1038\/nature08470","article-title":"Preserving electron spin coherence in solids by optimal dynamical decoupling","volume":"461","author":"Du","year":"2010","journal-title":"Nature"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1135","DOI":"10.1126\/science.aaa2253","article-title":"Protein imaging. Single-protein spin resonance spectroscopy under ambient conditions","volume":"347","author":"Shi","year":"2015","journal-title":"Science"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"230801","DOI":"10.1103\/PhysRevLett.95.230801","article-title":"Nuclear spin gyroscope based on an atomic comagnetometer","volume":"95","author":"Kornack","year":"2005","journal-title":"Phys. Rev. Lett."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"130801","DOI":"10.1103\/PhysRevLett.89.130801","article-title":"High-sensitivity atomic magnetometer unaffected by spin-exchange relaxation","volume":"89","author":"Allred","year":"2002","journal-title":"Phys. Rev. Lett."},{"key":"ref_12","unstructured":"Kitching, J., Donley, E.A., Hodby, E., Shkel, A., and Eklund, E.J. (2011). Compact Atomic Magnetometer and Gyroscope Based on a Diverging Laser Beam. (7872473), U.S. Patent."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"065006","DOI":"10.1088\/0953-4075\/49\/6\/065006","article-title":"Low frequency magnetic field suppression in an atomic spin co-magnetometer with a large electron magnetic field","volume":"49","author":"Fang","year":"2016","journal-title":"J. Phys. B Atomic Mol. Opt. Phys."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"032109","DOI":"10.1103\/PhysRevA.94.032109","article-title":"Rotation sensing using a K-Rb-21Ne comagnetometer","volume":"94","author":"Li","year":"2016","journal-title":"Phys. Rev. A"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"4052","DOI":"10.1109\/JSEN.2017.2703601","article-title":"Comparison of Compensation Mechanism Between an NMR Gyroscope and an SERF Gyroscope","volume":"17","author":"Dong","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Qin, J., Fang, J., and Wan, S. (2012, January 11\u201313). Experimental design of a dual axis Atomic Spin Gyroscope. Proceedings of the 2012 8th IEEE International Symposium on Instrumentation and Control Technology (ISICT), London, UK.","DOI":"10.1109\/ISICT.2012.6291622"},{"key":"ref_17","first-page":"12184","article-title":"Stable three-axis nuclear spin gyroscope in diamond","volume":"86","author":"Ochoa","year":"2012","journal-title":"Phys. Rev. A"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1512","DOI":"10.1007\/s11434-013-5759-5","article-title":"Atomic spin gyroscope based on 129Xe-Cs comagnetometer","volume":"58","author":"Fang","year":"2013","journal-title":"Chin. Sci. Bull."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Zhang, H., Zou, S., and Chen, X. (2015, January 4\u20135). Optimal modeling on magnetic shielding cylinder of atomic spin gyroscope considering transverse shielding factor. Proceedings of the 2015 IEEE Metrology for Aerospace (MetroAeroSpace), Benevento, Italy.","DOI":"10.1109\/MetroAeroSpace.2015.7180617"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"7220","DOI":"10.1364\/AO.52.007220","article-title":"Dynamics of an all-optical atomic spin gyroscope","volume":"52","author":"Fang","year":"2013","journal-title":"Appl. Opt."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"113104","DOI":"10.1063\/1.4900946","article-title":"Modeling and optimizing of the random atomic spin gyroscope drift based on the atomic spin gyroscope","volume":"85","author":"Quan","year":"2014","journal-title":"Rev. Sci. Instrum."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"7734","DOI":"10.1364\/AO.56.007734","article-title":"Common-mode noise reduction in an atomic spin gyroscope using optical differential detection","volume":"56","author":"Duan","year":"2017","journal-title":"Appl. Opt."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Zou, S., Zhang, H., and Chen, X. (2015, January 4\u20135). Modeling and filter algorithm analysis of all-optical atomic spin gyroscope\u2019s random drift. Proceedings of the 2015 IEEE Metrology for Aerospace (MetroAeroSpace), Benevento, Italy.","DOI":"10.1109\/MetroAeroSpace.2015.7180684"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"415","DOI":"10.3807\/JOSK.2015.19.4.415","article-title":"A novel calibration method research of the scale factor for the all-optical atomic spin inertial measurement device","volume":"19","author":"Zou","year":"2015","journal-title":"J. Opt. Soc. Korea"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"062103","DOI":"10.1103\/PhysRevA.95.062103","article-title":"Suppression of the cross-talk effect in a dual-axis K-Rb-21Ne comagnetometer","volume":"95","author":"Jiang","year":"2017","journal-title":"Phys. Rev. A"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"60002","DOI":"10.1209\/0295-5075\/110\/60002","article-title":"Simultaneous measurement of magnetic field and inertia based on hybrid optical pumping","volume":"110","author":"Quan","year":"2015","journal-title":"EPL"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"060702","DOI":"10.1088\/1674-1056\/24\/6\/060702","article-title":"In-situ measurement of magnetic field gradient in a magnetic shield by a spin-exchange relaxation-free magnetometer","volume":"24","author":"Fang","year":"2015","journal-title":"Chin. Phys. B"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"055002","DOI":"10.1088\/0957-0233\/27\/5\/055002","article-title":"Spin-exchange relaxation-free magnetometer with nearly parallel pump and probe beams","volume":"27","author":"Karaulanov","year":"2016","journal-title":"Meas. Sci. Technol."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1002\/j.2161-4296.1973.tb01161.x","article-title":"Marine ESG Navigation as a Capability for the Present","volume":"20","author":"Elton","year":"1973","journal-title":"Navigation"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Dushman, A., and Sandberg, H. (1973, January 25\u201328). Accuracy of ESG monitor\/sins inertial navigation system. Proceedings of the Ocean 73 IEEE International Conference on Engineering in the Ocean Environment, Seattle, WA, USA.","DOI":"10.1109\/OCEANS.1973.1161295"},{"key":"ref_31","unstructured":"Gao, Z. (2012). Error Propagation Property of Inertial Navigation System. Inertial Navigation System Technology, Tsinghua University Press. [1st ed.]."},{"key":"ref_32","unstructured":"Wu, Q., and Han, F. (2011, January 16\u201319). New optimal approach to space-stable inertial navigation system. Proceedings of the 2011 10th International Conference on Electronic Measurement & Instruments (ICEMI), Chengdu, China."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"617","DOI":"10.1109\/TAES.1971.310404","article-title":"Error analysis of space-stable inertial navigation systems","volume":"7","author":"Nash","year":"1971","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1138","DOI":"10.1109\/TAES.1971.310215","article-title":"Comparison of Error Propagation in Local-Level and Space-Stable Inertial Systems","volume":"7","author":"Hutchinson","year":"1971","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/TAES.1973.309696","article-title":"Altitude damping of space-stable inertial navigation systems","volume":"9","author":"Nash","year":"1973","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"306","DOI":"10.1109\/TAES.1973.309800","article-title":"Kalman filter design considerations for space-stable inertial navigation systems","volume":"9","author":"Hutchinson","year":"1973","journal-title":"IEEE Trans. Aerosp. Electron. Syst."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/2\/670\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T13:05:08Z","timestamp":1737378308000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/2\/670"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,2,24]]},"references-count":36,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2018,2]]}},"alternative-id":["s18020670"],"URL":"https:\/\/doi.org\/10.3390\/s18020670","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2018,2,24]]}}}