Self-Calibration for the Non-Full Gesture Inertial Platform Before Launch Under Small Angle

To realize the self-calibration of the non-full gesture inertial platform,a new method calibrating the non-full gesture inertial platform under small angle is presented.Through analyzing the force acting the platform in the flight,the most important six error coefficients which form the drift of the platform were determined.The control circuits,which control the platform to rotate and lock at a setting angle automatically,were designed.The platform was rotated and locked at the initial position and certain small angle position,the six error coefficients were stimulated by the gravity of the earth sufficiently.The error coefficients were measured and separated through measuring the current in the torque feedback loops.The precision analysis showed that the new method can meet the need of the system's requirement.Compared with the traditional method,the new method can measure the drift of the three axes at one time,and the platform rotates only once between two positions.The time needed was reduced to 25 percent of the traditional method.