inertial navigation system, aircraft, and, method to calibrate an inertial navigation system

摘要

inertial navigation system, aircraft, and, method to calibrate an inertial navigation system. an inertial navigation system comprising: a first inertial measurement unit comprising at least one first sensor; and a second inertial measurement unit comprising at least a second sensor corresponding in type to the first sensor; wherein the first inertial measurement unit is rotatably mounted relative to the second inertial measurement unit; and wherein the inertial navigation system further comprises a controller arranged to: acquire a first set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; rotating the first inertial measurement unit in relation to the second inertial measurement unit; acquire a second set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; and calculating from the first set of measurements and the second set of measurements at least one error characteristic of the first sensor and / or the second sensor. using two separate rotating images means that the orientation of some or all of the sensors in the first image can be changed from their counterparts in the second image. With this arrangement, the error characteristics of the sensors can be determined at the same time as measurements of the constantly changing main sensor output are obtained. this allows inertial measurement calibration to be performed while in motion instead of having to perform the calibration while the imu is at rest.