Analyzing the error observability of an orientation system based on two rotation units of micromechanical gyroscopes

An orientation system based on two rotation units of micromechanical gyroscopes is studied in this paper. An algorithm is considered to estimate the errors of two inertial units, including biases, scale factor errors, and misalignment angles. The mathematical model of the orientation system under investigation is given. Particular attention is paid to the analysis of the observability of all types of errors of inertial units during the object movement and the requirements for the rotation modulation parameters of platforms are discussed.