Analysis and Compensation of Installation Errors for Rotating Semi-Strapdown Inertial Navigation System

The rotation semi-strapdown inertial navigation system (RSSINS) provides a new solution for the high-precision measurement of high-spinning projectile flight parameters. However, the installation error between the complex semi-strapdown mechanical structures is inevitable. Coupled with the carrier motion, the system installation error seriously affects the navigation accuracy of the system, which should be accurately calibrated and compensated. Aiming at the problem, the calibration and compensation methods are proposed in this study. First, the generation mechanism of the installation errors and the error propagation equation are analyzed and derived. Furthermore, the influence of each installation error angle on attitude is analyzed by simulation. Based on the analysis, taking MEMS device errors into account, a graded calibration method suitable for the system is proposed. In addition, according to the characteristics of the calibration method, the corresponding compensation method is proposed. Finally, experiments have been carried out to validate the performance of the method, which shows that the proposed method can compensate the installation errors effectively, and the measurement accuracy of the RSSINS has been improved.