Abstract
In the rotational inertial navigation system (RINS), the inertial measurement unit (IMU) rotates around the motor shaft, which will stimulate the gyro scale factor asymmetry, so it needs to be effectively calibrated and compensated. In this paper, the influence of gyro scale factor asymmetry on angular velocity error, angle error and velocity error is analysed, and a self-calibration method for it is proposed in the RINS using velocity errors as measurements. A self-calibration rotation strategy is designed for the dual-axis RINS so as to carry out self-calibration for the scale factor asymmetry of x-gyro, y-gyro and z-gyro. The feasibility of this scheme is verified by theoretical analysis and simulation. Experiments are carried out on a set of dual-axis RINS based on fiber optic gyroscope, and the scale factor asymmetry calibration results of three gyros are 2.56 ppm, 10.01 ppm and 0.88 ppm, respectively. In the navigation experiment, the navigation error is improved by 57.45% after compensating the gyro scale factor asymmetry error, which fully illustrates the significance of the proposed self-calibration method in improving the navigation performance of RINS.
Published Version
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