Analysis of the Calibration Method of a Dual Axis Rotational Inertial Navigation System and Its Calibration Performance

Suktae Kang, SungJin Yoon, Chanju Park, Jin Seung Lee, Tae-Gyoo Lee

This paper discusses calibration method of a rotational inertial navigation system (RINS) and its calibration performance. This paper analyzes the calibration performance using 8-position calibration method. The 8-position calibration method is based on conventional 6 position calibration, and two more positions are introduced to estimate g-sensitive bias error. The main navigation errors including constant bias, scale factor error, and misalignment error can be calibrated and compensated during the classical 6-position method. However, the g-sensitive bias error which occurs proportional to the magnitude of applied acceleration cannot be averaged out. For this reason, the 8-position calibration method which can calibrate g-sensitive bias error is adapted in this paper. The fundamental principle of the 6-position method is rotating each gyro axis around clockwise and counter-clockwise and positioning each accelerometer axis up and down direction. To calibrate the g-sensitive bias error, the gyro axis needs to rotate and to be exposed to the acceleration (gravity). Thus, 2 positions with tilt attitude are introduced. The calibration performance is evaluated based on the Monte-Carlo simulation. The simulation results show that 8-position calibration method could be calibrated and compensated navigation errors including g-sensitive bias error. The calibration performance is improved proportionally to the magnitude of the g-sensitive bias error, which requires future researches to calibrate the minor magnitude of the g-sensitive bias Keywords: RINS, calibration, g-sensitive bias, 8-position calibration method