Improved calibration algorithm for strap-down inertial navigation system

A calibration algorithm for a strap-down inertial navigation system (SDINS) is presented in this paper. According to the sensor error models, a systematic calibration model for the laser gyro strap-down inertial navigation system is proposed based on the simplified strap-down inertial navigation system error equation. Then an appropriate scheme of rotation is designed to provide the proper observation of gyro and accelerometer error parameters. The solutions to the observation equations show that all gyro and accelerometer error parameters, except the gyro biases, can be obtained. Alignment experiment on a three axis rate and position table was carried out access the performance of the calibration algorithm. The results indicate that the calibration algorithm is efficient and practical.