Method for calibrating fixed errors of inertial sensor in inertial navigation system in real time

The invention discloses a method for calibrating fixed errors of an inertial sensor in an inertial navigation system in real time. The method comprises the following steps of: firstly, establishing a fixed error model of the inertial sensor during the dynamic flying process of an aircraft, wherein the fixed errors include installation errors and scale factor errors; secondly, establishing a state equation and a position, speed and attitude linear measurement equation of a filter, with the fixed errors of the inertial sensor included, on the basis of a random error model of a traditional IMU (Inertial Measurement Unit) and the established fixed error model; and finally, carrying out real-time dynamic calibration and correction to the fixed errors of the inertial sensor during the dynamic flying process of the aircraft, so as to obtain the navigation result of the inertial navigation system after the fixed errors of the inertial sensor are compensated and corrected. The method can realize the calibration and correction of installation errors and scale factor errors of the inertial sensor used in the inertial navigation system during the dynamic flying process of the aircraft, effectively enhances the performance of the inertial navigation system, and is suitable for engineering application.