A Self-Calibration Method for Dual-axis Rotational Inertial Navigation Systems

Ziao Liu, Shuai Zhao, Zhijian Hu, Yilan Zhou, and Tengchao Huang

Peer Reviewed

Abstract:	Rotation modulation technology in inertial navigation systems (INS) can effectively suppress the divergence of navigation errors, thereby enhancing long-endurance navigation accuracy. However, established INS calibration methods do not fully account for non-orthogonality between the dual rotation axes, which may couple with other errors and degrade overall navigation performance. To address this issue, this paper develops a mathematical model that accounts for axis non-orthogonality and analyzes its effects on system behavior. Based on this model, the paper proposes a calibration scheme that mitigates the effect of non-orthogonality without the need for special alignment procedures. Simulation-based and experimental results demonstrate that the proposed approach effectively reduces attitude and velocity errors under both static and rotation modulation conditions. The proposed method thus represents a significant improvement in long-term navigation accuracy compared to traditional calibration methods.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 72, Number 4
Cite this article:	Citation Tools are available on the NAVIGATION open access site https://doi.org/10.33012/navi.726
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