An optimization method for self-calibration method of dual-axis rotational inertial navigation system

According to the error model of strapdown inertial navigation system, an eight-location system-level self-calibration method is designed with special feature that the annular shelf of dual-axis Ins is rotatable. The analytical method of eight-location layout scheme is provided, and the optimal location layout method is found among all the schemes that are satisfying the observability condition with D-optimal principle. The system velocity error of each location is estimated with Kalman filter and the calibration result of parameter error is obtained. Simulation results show that this method is reduced 20% of the calibration time with no loss of accuracy, compared to the traditional method.