Abstract
It is important to calibrate the errors of sensors to improve the performance level of laser gyro strap down inertial navigation system (SINS). In this paper, a calibration method that is suitable for practical application in the outfield is presented for SINS on stationary base. A SINS error model is established, and the observability of SINS is analyzed on the basis of Piece Wise Constant System (PWCS) theory. The process of four-position calibration satisfies complete observability condition, and the gyro drifts, accelerometer biases and accelerometer scale factor errors on horizontal axes can be estimated by Kalman filter. In order to analyze the efficiency of the calibration method, simulation and real tests have been carried out. The test results indicate that the four position outfield calibration method can calibrate the most significant SINS errors.
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