Outer field calibration by differentiators based on high-order sliding mode of laser gyroscope SINS

The outer field calibration of strap-down inertial navigation system is studied in this paper. 9 error parameters including the accelerometer biases, the accelerometer scale factor errors and the gyroscope drifts are estimated. A multi-position calibration method is adopted using the velocity errors, their derivatives and position errors, which can be easily implemented in the outer field. To take the derivatives, velocity error differentiators based on high-order sliding mode is proposed. The simulation result demonstrates that the method can calibrate the parameters accurately and quickly.