An Encoder-Based Relative Attitude Observation Method for Self-Calibration in Dual-Axis RINS

Abstract

This study investigates an encoder-based relative attitude observation method for self-calibration in dual-axis rotational inertial navigation system (RINS). First, the calibration error of the gyroscope parameters caused by the velocity and position observations in systematic calibration is analyzed. Second, a relative attitude observation method utilizing photoelectric encoders for gyroscope parameters estimation is proposed. We apply the proposed method in our designed dual-axis RINS to verify its effectiveness in this work. Experimental results show that the calibration accuracy of the gyroscope can be improved to 0.0005 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^ \circ /h$</tex-math></inline-formula> in bias, and 0.98 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$ppm$</tex-math></inline-formula> in scale factor using the proposed method. The proposed self-calibration method can be utilized as a high-accuracy self-calibration method in dual-axis RINS when the vehicle is in static condition.