Multiposition calibration method of laser gyro SINS

By establishing the inertial sensor simplified error model,a multiposition calibration method is proposed.This method takes account of the factors,such as calibration condition,equipment and time,etc,and designs a sequence of multiposition calibration scenario in order to excite all inertial sensor error parameters.Thus,the relationships between navigation errors and all inertial sensor error parameters are established.All 21 error parameters can be estimated using least-squares estimation by measuring the velocity error of the system in every fixed position.The theoretical analysis and experiment results show that,compared with the traditional calibration method,this method is simple and convenient.It can accurately calibrate all the 21 error parameters using a simple low-cost and low-accuracy equipment without north reference,and the accuracy of this method is equivalent to that with precise calibration turntable,and is more suitable for practical application.