High-Precision Calibration and Error Estimation of RLG SINS

Abstract

Since sensor errors limit navigation accuracy in ring laser gyroscope strapdown inertial navigation system (RLG SINS), the calibration of the error parameters is usually a key technology of SINS. This paper mainly studies the error estimation and high-precision calibration of RLG SINS under both static and small-angle swing bases using systematic calibration method. In this paper, firstly, based on the analysis of the error source, the error models of the quartz flexible accelerometers and laser gyroscopes are established. Meanwhile, according to the basic principles of SINS, the error equations of SINS in navigation coordinate system are derived. Then, this paper studies systematic calibration method. In this part, a multi position rotation error excitation method is introduced and a 33-dimensional Kalman filter is designed for the estimation of the error parameters. Finally, the simulation experiments for the error calibration of the inertial sensors under both static and small-angle swing conditions are performed to verify the effectiveness of this systematic calibration method. This method performs well in the simulation experiments and has its value in the online calibration of slight swing conditions, such as ship mooring state and the missile launcher swing state.