Fast self — Calibration of fiber — Optic strapdown inertial navigation system

摘要

Gyro bias is the main error source of the strapdown inertial navigation system (SINS), and the bias of the accelerometer determines the horizontal error of the SINS. So we propose a fast self-calibration method, which can accurately calibrate the accelerometer and the gyro bias within 15 minutes. The observability of the SINS is effectively improved by changing the position of the inertial measurement unit (IMU) in Kalman filter. Through the 160 experiments, it can be found that the calibration of the accelerometer and the gyro bias has reached the requirement of accuracy while satisfying the fastness.