Self-calibration in dual-axis rotary inertial navigation system

Abstract:

The inertial sensor errors should be calibrated when strapdown inertial navigation system (SINS) restarts to maintain the high accuracy for a long time. In this paper, we use the global observability analysis method to build up the relationship between the motion status and the system observability. The rotating principle of SINS initial alignment and self-calibration is also proposed. An eight-position rotating method which rotates around the two horizontal axes is designed based on the principle. The simulation results show that the rotating method which rotates around the horizontal axis has a better performance than that rotates around the any other two axes. At last the experiment results show that the location accuracy is enhanced to 5 nm／10 h from 18 nm／10 h with the eight-position calibration method, which verifies the effectiveness of this new rotating method.