Research on comprehensive calibration techniques for single-axis rotational inertial navigation system

For long-time operation applications based on single-axis rotation inertial navigation system (SRINS), the estimation and compensation of gyroscope's constant drift along the rotational axis in comprehensive calibration is the most important problem. In this paper, a novel comprehensive calibration method for SRINS is presented. During this process, SRINS is operating in the outer level damping mode. Kalman filter has been designed based on the SRINS model with the damping network. The velocity and position provided by differential GPS (DGPS) are introduced as reference information for the estimation of rotational axis gyroscope drift. For stationary scenario, the observability degree of system states are given by an observability analysis based on singular value decomposition. The validity of this method is confirmed by simulations. The influence of linear accelerated motion on the estimation of drift is obtained.