A method of field calibration for Vehicle-based SINS

To improve the accuracy of the vehicle-based SINS and reduce the time of calibration, it introduces a new multi-position calibration method in outfield conditions according to the using features of the Vehicle-based SINS based on extended observation. It raises a new filed calibration method with extended information of gyroscope and analyzes its observability, then conducts experiments. The test results show that observation of the upright gyroscope drift will increase from 0.0006 to 0.9999 after the introduction of equivalent gyroscope error, what's more, its convergence rate will be faster and have an improved accuracy and a faster initial alignment speed. The field calibration result is consistent with theoretical value while its relative error is less than 15% so that it has definite value in engineering application.