Calibration and data processing technology of gyroscope in dual axis rotational inertial navigation system

摘要

Rotational inertial navigation system, which can achieve high accuracy without the use of expensive inertial sensors, has drawn extensive attention in recent years. However, the introduction of the rotation makes the system's error mechanism different from that of traditional strapdown inertial navigation system. So it is very important to calibrate and compensate error parameters accurately to achieve expected good performance of the system. As the core component of the navigation system, gyro accuracy is closely related to the navigation results. In this paper, different gyro data processing methods are analyzed and one is proposed to get better gyroscope calibration results. Experimental results show that compared with other method, the proposed method can greatly reduce the velocity error of the navigation test.