A system-level calibration method including temperature-related error coefficients for a strapdown inertial navigation system
Zichao Wang, Yuanping Xie, Xudong Yu, Fan Huiying, Guo Wei, Lin Wang, Zhenfang Fan, Guochen Wang, Hui Luo
Abstract
Abstract The calibration of error coefficients for accelerometers and laser gyros is an effective way to improve the navigation precision of strapdown inertial navigation systems. The calibration parameters often change with temperature. This paper proposes a system-level calibration method including temperature-related error coefficients. The method includes an improved 18-step calibration scheme with temperature being changed by using a thermal chamber. A 42-dimensional Kalman filter is applied to estimate the error parameters including the bias, scale factor errors, installation errors and temperature-related error coefficients of accelerometers. This method has the great advantage of simplifying the calibration procedure and is widely applicable to all temperature-related error coefficients. Compared with the traditional calibration method at different temperature points, the calibration time of the proposed method is shortened by 24 h. The feasibility of this method is verified by simulations and navigation experiments. The results of navigation experiments show that the maximum positioning errors in pure inertial navigation decrease by approximately 30% after temperature compensation.