Dynamic separation method of strap-down inertial navigation instrument error

The separation and compensation method of Inertial Measurement Unit (IMU) instrument error is the key technology improving the inertial navigation missile´s fire accuracy, it can be divided into two steps, first is the separation of navigation instrument error from the overall errors, second is the separation of coefficient deviation from navigation instrument error. Based on Strap-down Inertial Navigation System (SINS) of ballistic missile, the dynamic separation method of inertial navigation instrument error during the missile´s flight phase was studied, the transfer model of inertial navigation instrument error was analyzed systemically, the SINS /Global Positioning System (GPS) Kalman filter for error separation was designed, and the first step was accomplished which provided the accurate measurement data used in the further separation of instrument error coefficient. The observable degree of the system was analyzed which verified the correctness of filter results.