SINS Installation Error Calibration Based on Multi-Position Combinations
A new method is proposed to calibrate the installation errors of SINS. According to the method, the installation errors of the gyro and accelerometer can be calibrated simultaneously, which not depend on latitude, gravity, scale factor and earth's rotation rate. By the multi-position combinations, the installation errors of the gyro and accelerometer are modulated into the sine and cosine functions, which can be identified respectively based on the least squares. In order to verify the correctness of the theoretical analysis, the SINS is experimented by a three-axis turntable, and the installation errors of the gyro and accelerometer are identified respectively according to the proposed method. After the compensation of the installation error, the accuracy of the SINS is improved significantly.
Z. H. Wang et al., "SINS Installation Error Calibration Based on Multi-Position Combinations", Advanced Materials Research, Vols. 383-390, pp. 4213-4220, 2012