Self-calibration for inertial instruments based on the real time bias estimator

摘要

One illustrate inertial measurement unit, installs the self-calibrating bias revision signal. The 1st inertial equipment and the 2nd inertial equipment, displays the inertial attribute which is measured, the respective input signal is formed. The bias presumption vessel, the 1st bias revision signal and forms the 2nd bias revision signal. The 1st addition node and the 2nd addition node, the respective input signal and the respective 1st bias revision signal and receives with the 2nd bias revision signal. The 1st addition node and the signal where each one was added, the 1st inertial equipment and it offers the 2nd addition node, to the 2nd inertial equipment. The 1st inertial equipment and the 2nd inertial equipment displays the value of inertial attribute on the basis of the signal where each one was added, the respective output signal is formed. The bias presumption vessel, the 1st bias revision signal and calculates the 2nd bias revision signal in respective 1st time interval and the 1st measurement which is done in 2nd time interval and on the basis of 2nd measurement, the 1st bias error signal and the mark of one side among the 2nd bias error signals, from state of one side in 1st time interval, changes in other state in 2nd time interval.