In the dual-axis rotation inertial navigation system (INS), besides the gyro error, accelerometer error, rolling misalignment angle error, and the gimbal angle error, the shaft swing angle and the axis non-orthogonal angle also affect the attitude accuracy. Through the analysis of the structure, we can see that the shaft swing angle and axis non-orthogonal angle will produce coning errors which cause the fluctuation of the attitude. According to the analysis of the rotation vector, it can be seen that the coning error will generate additional drift velocity along the rotating shaft, which can reduce the navigation precision of the system. In this paper, based on the establishment of the modulation average frame, the vector projection is carried out, and then the attitude conversion matrix and the attitude error matrix mainly including the shaft swing angle and axis non-orthogonal are obtained. Because the attitude angles are given under the static condition, the shaft swing angle and the axis non-orthogonal angle are estimated by the static Kalman filter (KF). This kind of KF method has been widely recognized as the standard optimal estimation tool for estimating the parameters such as coning angles (α1 , α2), initial phase angles (ϕ1,ϕ2), and the non-perpendicular angle (η). In order to carry out the system level verification, a dual axis rotation INS is designed. Through simulation and experiments, the results show that the amplitudes of the attitude angles’ variation are reduced by about 20%–30% when the shaft rotates. The attitude error equation is reasonably simplified and the calibration method is accurate enough. The attitude accuracy is further improved.
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