Calibration and data processing technology of gyroscope in dual axis rotational inertial navigation system

An Improved Online Fast Self-Calibration Method for Dual-Axis RINS Based on Backtracking Scheme

“…Rotational inertial navigation systems (RINS) have reached high accuracy of navigation in recent years [1,2]. A RINS consists of three gyroscopes, three accelerometers, and one rotational table.…”

“…Wen et al have added gyro-accelerometer asynchronous time as a state variable in self-calibration KF [15]. Jing et al in [1] have analyzed the data of the gyroscope to improve the accuracy of the calibration. In [16], Song et al have added inner lever-arm parameters for RINS, which denotes the distance between the sensitive center of the accelerometer and the center of rotation of the IMU.…”

“…So KF is used in the system. To solve the above problems, we do the following work in this study: (1) we propose a 39-dimensional online calibration Kalman filtering (KF) model to estimate all calibration parameters; (2) Error relationship between calibration parameter errors and navigation error is derived, which can be a theoretical guide for the design of calibration rotation path; (3) A backtracking filtering scheme is proposed to shorten the calibration process. Experimental results indicates that the proposed method can shorten the calibration process to 1 h and improve the calibration accuracy (within 0.5 ppm) simultaneously.…”

A self-calibration method for non-orthogonal angles of gimbals in rotational inertial navigation system based on fiber optic gyro

“…In this way, the errors in IMU will have few effects on the results. A calibration method for gyro scale factor errors and installation errors using the outputs of the gyro and encoder is proposed (Chen et al, 2016), a data processing method is also proposed to improve calibration accuracy, and experimental results show that using the proposed methods the navigation accuracy of the system is improved. Another calibration method directly using the outputs of gyro and encoder is also proposed (Zhang Q et al, 2016), the proposed method can calibrate the accelerometer scale factor errors to a high accuracy and relax the orthogonality requirement of rotation axes at the same time.…”