Research on the separation technology of SINS misalignment angles and installation error angles

When comparing the attitude information between the reference equipment and the measured SINS (Strapdown Inertial Navigation System), due to the influence of the calculated navigation coordinate system error of the measured SINS and the non-coincidence deviation between these two equipment, there will be two type of angle differences, i.e. misalignment angles and installation error angles, at the same time. The attitude measurement equation reflecting the above two angle errors is established in this paper, and the SINS attitude angle motion mode to realize the separation of the two angles is given, that is, the two axes of SINS are rotated in turn to make the rotation angles more than 30 (°). Through the measurement equations of the three angular positions before, after and in the middle of the rotation and solved by the least square method, the effective separation of the misalignment angles and the installation error angles can be realized.