Self-Calibration Method for the Errors of Dual-Axis Turntable in Redundant Rotational Inertial Navigation System

Attitude measurement is an important capability of a redundant rotational inertial navigation system (RRINS). The attitude of RRINS is converted from the attitude of the redundant inertial measurement unit (RIMU) using a turntable. The attitude measurement accuracy of RRINS is reduced greatly by turntable errors because the turntable is rotated frequently when the RRINS is working. Therefore, it is important to calibrate the turntable errors for improving the attitude measurement accuracy of RRINS. In this study, a self-calibration method for the errors of a dual-axis turntable in RRINS is proposed. First, an error model of the dual-axis turntable is established, and the influence of turntable errors on RRINS attitude measurement is analyzed. Second, a self-calibration method, including rotation scheme, numerical algorithm (NA) errors calculation, and fruit fly optimization algorithm (FOA) errors estimation, is proposed. The influence of Earth’s rotational rate and gyroscope biases is eliminated during calibration using the designed rotation scheme, NA calculates the errors directly when they are minor angles, and FOA estimates the errors whether they are minor or large angles. The simulations and experiment results show that the proposed method can improve the attitude measurement accuracy of RRINS.