Abstract
The IMU's center of mass may be deviated from the vehicle body's center of mass in the high dynamic flight environment of the hypersonic vehicle; this phenomenon may lead to the lever arm effect error if the angular movement exists. If the lever arm effect error cannot be calibrated and compensated during the high dynamic flight process, the lever arm effect error may affect the accuracy of the SINS largely to some extent. The online calibration method for the lever arm effect of the SINS is proposed in this paper. The model of the lever arm effect is built and the length of lever arm is used as the state variable. The observability of the system variables is analyzed and the Kalman Filter is used to calibrate the length of the lever arm. The simulation results show that the designed method can effectively calibrate the length of the lever arm online. The calibration results are used to compensate the navigation system and the results show that accuracy of the compensated navigation system is improved than the uncompensated one.
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