Abstract
Strapdown inertial navigation system (SINS)/celestial navigation system (CNS) integrated navigation is widely used to achieve autonomous navigation for plane. The accurate initial attitude estimation of the SINS and the precise calibration of the Inertial Measurement Unit (IMU) installing errors have a significant impact on the overall navigation accuracy. Installation errors of the IMU in SINS causes the existence of an additional interference acceleration in accelerator output and gyros drift in gyro output, which can lead to navigation errors. To solve this problem, a new initial attitude estimation and installation errors calibration of the IMU by the SINS/CNS integration method is presented, in which the initial attitude and installation errors are estimated by aiding the SINS with celestial measurements. In this method, the SINS error equation in the navigation frame is used as state model, and the horizontal velocity errors, starlight vector and outputs of IMU are chosen as measurements. The simulations show that the maximum error in attitude is 6.18″ and the maximum estimation errors of installing errors is 2″, which demonstrates the feasibility and effectiveness of this method.
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