A Full-Parameter Self-Calibration Method Based on Inertial Frame Filtering for Triaxis RINS Under Swaying Base

The navigation performance of the rotational inertial navigation system (RINS) could be greatly improved by self-calibration of error parameters. The traditional instrument-level calibration depends on high-precision turntable. System-level calibration takes zero velocity as a reference to estimate error parameters. However, zero velocity is invalid in the situation of swaying base and the calibration accuracy will be decreased with the traditional method. Aiming at the swaying base environment, the filtering method for tri-axis RINS in an inertial frame is proposed in this paper. Taking the velocity errors in the inertial frame as the reference, full-parameter calibration on swaying base can be achieved. Simulation verifies the feasibility of the proposed method. Experimental results demonstrate the stability of the proposed method is better than the traditional calibration method, and it satisfies the application requirements. Thus, the proposed method has great application values under swaying base.