Analysis and calibration on installation errors of accelerometer in GFSINS

Aim at the precision limitation for calculating angular velocity because of installation errors of accelerometer in the gyro free strapdown inertial navigation system (GFSINS), a calibration method of installation error parameters is put forward. Based on a six-accelerometer configuration scheme, the calculating method of angular velocity and linear acceleration is analyzed, and the accelerometer output error resulting from accelerometer installation errors is deduced. On the stationary base, the accelerometer output value is obtained in the three different positions by twice axis rotation of inertial measurement unit, then, all the installation error parameters of accelerometer are given. Simulation results show that the calibrating method is feasible. After calibration and compensation for installation errors, the calculation precision of angular velocity is improved by 1 order of magnitude in 100 s time.