Systematic calibration method for SINS with low-precision two-axis turntable

In order to reduce the requirement for turntable precision in SINS calibration,a ten-position calibration method for SINS using low precision two-axis turntable is presented.First,by choosing a suitable IMU frame,the error models of accelerometers and gyros are established respectively.Based on the models,ten positions used in calibration are reasonably arranged on two-axis turntable.Then by taking the navigation errors in SINS rolling as observations,the overall twenty-four error parameters of SINS are identified,including the nonlinear terms of scale factor error.The mathematic simulation and physical experiment both verify that the method can identify all the error coefficients of SINS on low-precision two-axis turntable,and the accuracy of this method is equivalent to that of the classical calibration on precision turntable.In addition,this method is rapid,simple and feasible.