Research On Error Calibration Method For SINS

SINS based on FOG is simple in structure, with no rotating parts and wide dynamic range. It is deeply concerned in navigation field, and it is developing rapidly. The key technology of the development of SINS is design of SMU's hardware, the technology of alignment and the test and error compensation technology of SIMU. Based on FOG and SINS which are developed by ourselves, this paper makes a in-depth study of the fiber optic gyroscope SINS's calibration technology, a lot of experiments were run, which achieved good results.In this paper, the previous calibration methods are summed up, Calibration technology mainly makes sure SINS Inertial Measurement accelerometer and FOG basic error model parameter. Establish static error model respectively of accelerometer and FOG Then based on the three-axis inertial testing table, use the rate test, 24 position test and bias correction test to gain the model parameters.From the view of restraining the fiber optic gyro random noise, combine the traditional static calibration method with the wavelet theory, namely use the wavelet filtering to process calibration test data of the fiber optical gyro system, and this method improved the bias correction test of static error calibration.According to the physical model of IMU, derive FOG error mathematical model newly, present closed-loop calibration method based on the open-loop calibration method used in the past, determine the error parameters of FOG during system functional mode. Bias of FOG was calculated during system initial alignment, scale factor and installation error of FOG were calculated during system navigation. Finally, according to the function provided by the high-precision three-axis table and the serial port agreement, this paper designs the automatic calibration system.