An eight-position self-calibration method for a dual-axis rotational Inertial Navigation System

作者：Zheng, Zhichao^*; Han, Songlai; Zheng, Kefei

来源：Sensors and Actuators A: Physical , 2015, 232: 39-48.

DOI：10.1016/j.sna.2015.05.002

• Inertial navigation
• Inertial measurement unit
• Calibration
• Kalman filter
• G-dependent bias

An eight-position self-calibration method for a dual-axis rotational Inertial Navigation System (INS) is provided in this paper. By experiencing two more positions with tilt attitudes than those experienced in a conventional six-position method, not only constant biases, scale factor errors, and misalignment errors, but also g-dependent biases can be calibrated. Field tests indicate that, after the calibration and compensation of the g-dependent biases, both a latitude error and a longitude error remain within a small range over time. In contrast, by using the conventional six-position method, a latitude error is several times larger and a longitude error diverges rapidly over time. Compared with the six-position method, accuracy of the dual-axis rotational INS is significantly improved more than 50% by the eight-position self-calibration method. The self-calibration method is feasible both in static and over a ship at the dockside.

• 出版日期2015-8-1
• 单位中国人民解放军国防科学技术大学; 华中科技大学