Inertial Navigation System Calibration based on Direction Cosine Matrix Matching

This paper proposes an attitude transfer alignment method using direction cosine matrix (DCM) matching for Inertial Navigation System Calibration. The relationship between the calculated attitude DCM by inertial navigation system and reference attitude is established, which is used as measurement model for attitude transfer alignment. The validation of the proposed model is demonstrating in the Inertial Navigation System calibration. In order to calibrate the error parameters such as gyro drift, accelerometer bias, installation errors and the scale factor errors, a system-level calibration model with 18-error parameters needs to be established. By dimensionality reduction of high-dimensional system, 18-error parameters are effectively coupled into 6-error parameters. An 10-position "stationary" calibration scheme is designed and a 12-dimensional Kalman filter equation is established. The experimental results show that the accuracy of the error coefficient calibration of Inertial Navigation System is improved effectively after the addition of high-precision attitude information. The relative errors of gyro drift and accelerometer bias are less than 0.1%.