METHODS FOR CALIBRATION OF STRAPDOWN INERTIAL NAVIGATION SYSTEMS (SINS) OF VARIOUS CLASSES OF ACCURACY

摘要

Two methods of SINS inertial sensors calibration are studied in this work: 1. An algorithm on the basis of optimal evaluation of the state vector that is correction of instrument trihedron position on the basis of data from accelerometers, 2. Modified algorithm of scalar calibration. A temperature error model is created for both algorithms as well as iterative refinement of sensor errors (including refinement of error model at constant temperature and refinement of temperature model) is realized. Refinement at constant temperatures allows taking into account an influence of parameters of calibration correlation above the first order of infinitesimal. Iterative refinement of temperature model reduces methodical errors from temperature variation and sensor parameters in the calibration cycles at constant temperatures, decreases requirements for precision of heat chamber temperature setting. Results of practical use of methods for calibration of SINS of various accuracy classes are given.