The paper proposes a calibration method for navigation grade SINS using complete error equation under arbitrary rotations of the rate table. Application of Kalman filter in SINS navigation mode provides estimation of gyro and accelerometer calibration errors. The use of obtained error estimates makes it possible to perform SINS calibration in 3-4 iterations. The input data for Kalman filter are velocities generated by the navigation system. The method is not connected with specific calibration scenario, does not require analytical calculations and provides quantitative estimate of efficiency of calibration scenario and errors of calibration parameters.
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