A Compensation Method for Setting Misalignment Error in Gyroscope Deterministic Error Estimation Test

The gyroscope deterministic error can be estimated through laboratory test using rate table. However, the setting misalignment, if exists, degrade the estimation accuracy severely. To solve this problem, for the simple error model which contains sensor misalignment and bias, a setting misalignment error compensation method is proposed in this paper. This method based on the fact that the setting misalignment can be represented by Euler angle: roll, pitch, and yaw angles. The identification of the three angles is performed step by step. For each pitch and yaw angle, we use the fact that the one specific element of misalignment matrix multiplied by roll matrix is exactly 1 and find pitch and yaw angle which make the estimate of the specific element closely 1. Next, we estimate roll angle with the same procedure. Finally, we estimate the sensor misalignment matrix using the estimated Euler angles. Thorough simulation, the proposed method is verified