Initial Attitude Estimation and Installation Errors Calibration of the IMU for Plane by SINS/CNS Integration

摘要

In the paper, an initial attitude estimation and installation errors calibration of the IMU for plane by SINS/CNS integration method is presented, which could solve the problems of SINS initial alignment and IMU calibration at the same time. The EMU installing errors are considered and its corresponding state equation is established. To make all state vectors observable, all original information provided by the sensors of the SINS and the CNS are used as measurements. The maximum error in attitude is 6.18", which indicates that both the inertial sensors' biases in the SINS and the installation errors of the IMU are estimated effectively. It should be noted that the proposed approach can be also applied to other carrier with a series of sensors.