Estimation of Accelerometer Bias of Airborne Gravity while Aircraft Sliding

Considering the change of the constellation of GPS satellites, integer ambiguity resolution and cycle slips, the bias estimation of accelerometers and gyros with long baseline is not an effective way to achieve high precision. The trajectory while the aircraft is sliding on the airport covers several kinds of maneuvers. It is reasonably favorable to calibrate the bias of the accelerometers and gyros during this period of time. The paper models these bias as states of the kalman filter. Analysis of observability is given. Simulation makes a perfect result and illustrates great advantage. Paper shows the result of the application to the field data. The error of the latitude and longitude is reduced by 4000 m and 6000 m during the 18000 seconds´ flight which is favorable to the inertial navigation system.