Self-calibration method based on navigation in high-precision inertial navigation system with fiber optic gyro

Abstract

Abstract. A rotary inertial navigation system requires higher calibration accuracy of some error parameters owing to rotation. Conventional multiposition and rotation calibration methods are limited, for they do not consider sensors' actual operating condition. In order to achieve these parameters' values as closely as possible to their true values in application, their influence on navigation is analyzed, and a relevant new calibration method based on a system's velocity output during navigation is designed for the vital error parameters, including inertial sensors' installation errors and the scale factor error of fiber optic gyro. Most importantly, this approach requires no additional devices compared to the conventional method and costs merely several minutes. Experimental results from a real dual-axis rotary fiber optic gyro inertial navigation system demonstrate the practicability and higher precision of the suggested approach. © The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

Improving the Measurement Accuracy of SINS Through Calibration on Horizontal Three-axis Turntable

“…The following can be derived through the comparison between equations (9) and (12). Both turntables can output alternating excitations of specific forces, when the corresponding axis excite the velocity state.…”

“…Both turntables can output alternating excitations of specific forces, when the corresponding axis excite the velocity state. However, the excitations of specific force f b y in y direction of the vertical 3AT in equation (9) remains as sinωt, its amplitude is constant '1g', while that of the horizontal 3AT in equation (12) is cosαsinω, its amplitude is gcosα, changing with the angular positions.…”

“…The systematic calibration came into being in the 1980s, and has become the trend of calibration development. In systematic calibration, the output errors of the IMU, such as attitude error, velocity error and position error, are treated as observed quantities [7][8][9][10], and used to calibrate the parameters in the IMU error model [11][12][13][14][15], reducing the calibration dependence on the turntable's accuracy. This method is a desirable way to carry out filed calibration, and a hotspot in relevant research [16].…”

A Separated Calibration Method for Inertial Measurement Units Mounted on Three-Axis Turntables

“…Systematic calibration uses the navigation output errors (such as attitude error, velocity error, and position error) as observations to identify the error parameters, the state vectors of parameters in the calibration model are estimated [ 7 , 8 , 9 , 10 , 11 , 12 , 13 ]. Because the navigation error is a synthesis of IMU errors, systematic calibration can reduce the dependence on turntable’s accuracy, but it has certain inadequacies, such as the fact that not all error parameters can be calibrated, and noise will impact the estimation accuracy [ 14 , 15 ]. Separated calibration is a classical method that has been used domestically and abroad.…”

High precision locking control based on fiber optic gyro and photoelectric encoder for rotational inertial navigation system

“…Other types of inertial navigation system should be demounted from the carrier and calibrated with the help of a high precision turntable. As for the RINS, these errors can be calibrated by its own rotation mechanism, which facilitates the appliance of inertial navigation system [7,8,9]. Therefore, the high precision control technology of rotation mechanism for RINS is of great importance [10].…”