Civil aircraft inertial navigation dynamic calibration method

The invention belongs to precision identification and dynamic calibration technologies of an airborne inertial navigation system, and provides a civil aircraft inertial navigation dynamic calibration method which includes the following steps: (A) acquiring the positions and attitude errors of an aerial survey camera, a GPS positioning device and an inertial navigation device in an airplane under an airplane body coordinate system; (B) acquiring a ground accurate coordinate of each control point in a ground control field; (C) aerially-photographing the ground control field by the aerial survey camera, and meanwhile acquiring GPS-time-associated airplane GPS positioning data, inertial navigation data and aerial photo image data; (D) calculating dynamic time-position data of the airplane; (E) acquiring the coordinate of each control point in a photograph shot by the aerial survey camera; (F) acquiring the position of the airplane at the photographing time; (G) calculating the attitude and the position of the aerial survey camera; (H) back-calculating the attitude of the airplane at the photographing time and corrected airplane position; and (I) performing photographing for several times to obtain time-position-attitude data of the airplane, comparing the time-position-attitude data with the inertial navigation data, and calibrating the inertial navigation device.