A biaxially rotary self-calibration method INS

The present invention provides a biaxially INS rotary self-calibration method, self-calibration scheme for optimization using genetic algorithms to improve the calibration accuracy. Step 1: Select axis rotation INS navigation errors and error model equations; Step 2, according to the navigation errors and error model equations obtained in the step 1, eight genetic algorithm to find the optimum position of the calibration scheme seven rotational angle; step 3, the preheating assembly gyroscopes and accelerometers, for coarse alignment; step 4, according to the rotation of the ring frame rough alignment results, adjusted to a position approximately coincident with the IMU navigation coordinate system; step 5, and starts navigation solution according to the angle rotating ring frame to a position corresponding to the position of each acquisition navigation solution obtained speed error, calculated observables; step 6, the least squares error is calculated based on the navigation parameters to be calibrated using the results for each position.