Research on dynamic calibration method for local reference based on hull deformation compensation

Due to the harsh working environment and lacking of external information, after a long period of work, the performance of the local reference inertial device will deteriorate, which will cause the navigation information to fail to meet the requirements of user equipment. In this paper, a local reference dynamic calibration method based on hull deformation compensation is proposed. Firstly, eliminate the coordinate system misalignment between the main inertial navigation system (MINS) and the local reference. Furthermore, a Kalman filter is designed to calibrate the bias errors of the local reference laser gyro and accelerometer based on the high-precision navigation information of the MINS. The simulation results show that after accurate hull deformation compensation, the local reference laser gyro bias error estimation accuracy is better than 0.002°/h , accelerometer bias error estimation accuracy is better than 1μg ，which provides an effective solution for local reference marine dynamic calibration